diff --git a/pylot/perception/point_cloud.py b/pylot/perception/point_cloud.py index 35c40997e..627d294a5 100644 --- a/pylot/perception/point_cloud.py +++ b/pylot/perception/point_cloud.py @@ -180,9 +180,9 @@ def save(self, timestamp: int, data_path: str, file_base: str): import open3d as o3d file_name = os.path.join(data_path, '{}-{}.ply'.format(file_base, timestamp)) - pcd = o3d.PointCloud() - pcd.points = o3d.Vector3dVector(self.points) - o3d.write_point_cloud(file_name, pcd) + pcd = o3d.geometry.PointCloud() + pcd.points = o3d.utility.Vector3dVector(self.points) + o3d.io.write_point_cloud(file_name, pcd) def visualize(self, pygame_display, timestamp=None): """Visualizes the point cloud on a pygame display.""" diff --git a/requirements.txt b/requirements.txt index 8c220bf8d..463e80b6c 100644 --- a/requirements.txt +++ b/requirements.txt @@ -4,7 +4,7 @@ erdos>=0.3.1 lapsolver motmetrics numpy<1.20 -open3d-python==0.7.0.0 +open3d==0.13.0 opencv-python>=4.1.0.25 opencv-contrib-python>=4.1.0.25 pillow>=6.2.2 diff --git a/setup.py b/setup.py index 7e60afe23..3d73c431b 100644 --- a/setup.py +++ b/setup.py @@ -17,7 +17,7 @@ "lapsolver", "motmetrics", "numpy<1.20", # Update to newer numpy version once we switch to tf2 - "open3d-python==0.7.0.0", + "open3d==0.13.0", "opencv-python>=4.1.0.25", "opencv-contrib-python>=4.1.0.25", "pillow>=6.2.2",