[Fix] Replace Open3D with PyntCloud for saving point cloud to files

change package for saving point cloud.

docs/faq.md

@@ -14,8 +14,3 @@ Please downgrade to PyTorch 1.10 if necessary.
 Try `pip install setuptools==59.5.0`.
 See this [issue](https://github.com/pytorch/pytorch/issues/69894#issuecomment-1080635462).
 
-3. `OSError: /lib/x86_64-linux-gnu/libm.so.6: version 'GLIBC_2.27' not found`
-
-This is an error when importing `open3d`.
-Please downgrade it to 0.9 by `pip install open3d==0.9`.
-According to this [issue](https://github.com/isl-org/Open3D/issues/1307), this is because the latest `open3d` requires `GLIBC_2.27` file, which only exists in Ubuntu 18.04 (and later versions), not in Ubuntu 16.04.

multi_part_assembly/utils/utils.py

@@ -1,7 +1,8 @@
 import copy
 import pickle
 import numpy as np
-import open3d as o3d
+import pandas as pd
+from pyntcloud import PyntCloud
 
 import torch.nn as nn
 from torch.nn import LayerNorm, GroupNorm
@@ -40,9 +41,9 @@ def save_pc(pc, file):
         pc (np.ndarray): [N, 3]
         file (str)
     """
-    pcd = o3d.geometry.PointCloud()
-    pcd.points = o3d.utility.Vector3dVector(pc)
-    o3d.io.write_point_cloud(file, pcd)
+    pcd_df = pd.DataFrame(data=pc, columns=['x', 'y', 'z'])
+    pcd_cloud = PyntCloud(pcd_df)
+    pcd_cloud.to_file(file)
 
 
 def colorize_part_pc(part_pc, colors):

setup.py

@@ -1,8 +1,8 @@
 from setuptools import setup, find_packages
 
 requirements = [
-    'numpy', 'pyyaml', 'trimesh', 'wandb', 'torch', 'pytorch_lightning',
-    'tqdm', 'yacs', 'open3d', 'pytorch3d', 'einops'
+    'numpy', 'pandas', 'pyyaml', 'trimesh', 'wandb', 'torch', 'pytorch_lightning',
+    'tqdm', 'yacs', 'pyntcloud', 'pytorch3d', 'einops'
 ]