isl-org · ssheorey · Aug 17, 2023 · Aug 10, 2023 · Aug 10, 2023 · Aug 11, 2023
diff --git a/docs/conf.in.py b/docs/conf.in.py
@@ -27,12 +27,11 @@
 # import sys
 # sys.path.insert(0, os.path.abspath('.'))
 
-import sys
 import os
 import re
 import subprocess
-from pathlib import Path
-import shutil
+import sys
+from typing import List
 
 
 def get_git_short_hash():
@@ -120,7 +119,15 @@ def get_git_short_hash():
 # List of patterns, relative to source directory, that match files and
 # directories to ignore when looking for source files.
 # This patterns also effect to html_static_path and html_extra_path
-exclude_patterns = ["_build", "Thumbs.db", ".DS_Store", "**.ipynb_checkpoints"]
+exclude_patterns = [
+    "_build",
+    "Thumbs.db",
+    ".DS_Store",
+    "**.ipynb_checkpoints",
+    "docker.in.rst",
+    "getting_started.in.rst",
+    "jupyter/*/*.ipynb",
+]
 
 # The name of the Pygments (syntax highlighting) style to use.
 pygments_style = "sphinx"
@@ -264,8 +271,22 @@ def skip(app, what, name, obj, would_skip, options):
     return would_skip
 
 
+def escape_vertical_bars(app, what, name, obj, options, lines: List[str]):
+    # Note - Latex docs also contains Vertical Bar, so we
+    # apply this filtering only to specific classes.
+    if name in [
+            "open3d.data.RedwoodIndoorLivingRoom1",
+            "open3d.data.RedwoodIndoorLivingRoom2",
+            "open3d.data.RedwoodIndoorOffice1",
+            "open3d.data.RedwoodIndoorOffice2",
+    ]:
+        for index in range(len(lines)):
+            lines[index] = lines[index].replace("|", "\|")
+
+
 def setup(app):
     app.connect("autodoc-skip-member", skip)
+    app.connect("autodoc-process-docstring", escape_vertical_bars)
     # Add Google analytics
     app.add_js_file("https://www.googletagmanager.com/gtag/js?id=G-3TQPKGV6Z3",
                     **{'async': 'async'})

diff --git a/docs/contribute/contribution_recipes.rst b/docs/contribute/contribution_recipes.rst
@@ -264,7 +264,7 @@ Case 4: When adding a Python tutorial
 .. note::
    When you commit a ipynb notebook file make sure to remove the output cells
    to keep the commit sizes small.
-   You can use the script ``docs/jupyter/jupyter_strip_output.sh`` for
+   You can use the script ``docs/jupyter/jupyter_strip_output.py`` for
    stripping the output cells of all tutorials.
 
 Dos

diff --git a/docs/cpp_project.rst b/docs/cpp_project.rst
@@ -10,7 +10,7 @@ We provide two example CMake projects to demonstrate how to use Open3D in your
 CMake projects.
 
 * `Find Pre-Installed Open3D Package in CMake <https://github.com/isl-org/open3d-cmake-find-package>`_
-  This option can be used if you'd like Open3D build and install Open3D first,
+  This option can be used if you'd like to build and install Open3D first,
   then link your project to Open3D.
 * `Use Open3D as a CMake External Project <https://github.com/isl-org/open3d-cmake-external-project>`_
   This option can be used if you'd like Open3D to build alongside with your

diff --git a/docs/getting_started.in.rst b/docs/getting_started.in.rst
@@ -100,7 +100,7 @@ install the latest development version directly with pip:
 
 .. code-block:: bash
 
-    pip install --trusted-host www.open3d.org -f http://www.open3d.org/docs/latest/getting_started.html open3d
+    pip install -U --trusted-host www.open3d.org -f http://www.open3d.org/docs/latest/getting_started.html open3d
 
 .. note::
    The development wheels for Linux are named according to PEP600. Please
@@ -144,9 +144,7 @@ demonstrate the usage of Open3D Python interface. See ``examples/python`` for
 all Python examples.
 
 .. note:: Open3D's Python tutorial utilizes some external packages: ``numpy``,
-    ``matplotlib``, ``opencv-python``. OpenCV is only used for reconstruction
-    system. Please read ``util/install-deps-python.sh`` for installing these
-    packages.
+    ``matplotlib``, ``opencv-python``.
 
 .. _install_open3d_c++:
 

diff --git a/docs/index.rst b/docs/index.rst
@@ -26,9 +26,9 @@ Open3D: A Modern Library for 3D Data Processing
     compilation
     cpp_project
     builddocs
-    open3d_ml
-    arm
     docker
+    arm
+    open3d_ml
 
 .. toctree::
     :maxdepth: 2
@@ -46,23 +46,6 @@ Open3D: A Modern Library for 3D Data Processing
     tutorial/sensor/index
     tutorial/reference
 
-.. toctree::
-    :maxdepth: 1
-    :caption: Contribute
-
-    contribute/contribute
-    contribute/contribution_recipes
-    contribute/styleguide
-
-.. toctree::
-    :maxdepth: 1
-    :caption: C++ API
-
-    cpp_api
-
-..
-    Note: when adding new modules, please also update documented_modules.txt.
-
 .. toctree::
     :maxdepth: 1
     :caption: Python API
@@ -88,3 +71,20 @@ Open3D: A Modern Library for 3D Data Processing
     python_example/pipelines/index
     python_example/utility/index
     python_example/visualization/index
+
+.. toctree::
+    :maxdepth: 1
+    :caption: C++ API
+
+    cpp_api
+
+.. toctree::
+    :maxdepth: 1
+    :caption: Contribute
+
+    contribute/contribute
+    contribute/contribution_recipes
+    contribute/styleguide
+
+..
+    Note: when adding new modules, please also update documented_modules.txt.
diff --git a/docs/jupyter/t_pipelines/t_icp_registration.ipynb b/docs/jupyter/t_pipelines/t_icp_registration.ipynb
@@ -405,7 +405,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "#### 1. Set Inputs and Parameters"
+    "### 1. Set Inputs and Parameters"
    ]
   },
   {
@@ -453,7 +453,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "#### 2. Get Registration Result from ICP"
+    "### 2. Get Registration Result from ICP"
    ]
   },
   {
@@ -602,7 +602,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "#### 1. Set Inputs and Parameters"
+    "### 1. Set Inputs and Parameters"
    ]
   },
   {
@@ -656,7 +656,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "#### 2. Get Registration Result from Multi-Scale ICP"
+    "### 2. Get Registration Result from Multi-Scale ICP"
    ]
   },
   {
@@ -884,7 +884,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "#### 1. Set Inputs and Parameters"
+    "### 1. Set Inputs and Parameters"
    ]
   },
   {

diff --git a/docs/jupyter/visualization/visualization.ipynb b/docs/jupyter/visualization/visualization.ipynb
@@ -129,7 +129,7 @@
    "metadata": {},
    "source": [
     "## Geometry primitives\n",
-    "The code below generates a box, a sphere, and a cylinder using `create_box`, `create_sphere`, and `create_cylinder`. The box is painted in red, the sphere is painted in blue, and the cylinder is painted in green. Normals are computed for all meshes to support Phong shading (see [Visualize 3D mesh](mesh.ipynb#visualize-a-3d-mesh) and [Surface normal estimation](mesh.ipynb#surface-normal-estimation)). We can even create a coordinate axis using `create_coordinate_frame`, with its origin point set at (-2, -2, -2)."
+    "The code below generates a box, a sphere, and a cylinder using `create_box`, `create_sphere`, and `create_cylinder`. The box is painted in red, the sphere is painted in blue, and the cylinder is painted in green. Normals are computed for all meshes to support Phong shading (see [Visualize 3D mesh](../geometry/mesh.ipynb#visualize-a-3d-mesh) and [Surface normal estimation](../geometry/mesh.ipynb#surface-normal-estimation)). We can even create a coordinate axis using `create_coordinate_frame`, with its origin point set at (-2, -2, -2)."
    ]
   },
   {

diff --git a/docs/make_docs.py b/docs/make_docs.py
@@ -305,11 +305,11 @@ def _generate_index(title, output_path):
             f.write(out_string)
 
     @staticmethod
-    def _add_example_to_docs(example, output_path):
+    def _add_example_to_docs(example: Path, output_path):
         shutil.copy(example, output_path)
-        out_string = (f"{example.stem}.py"
-                      f"\n```````````````````````````````````````\n"
-                      f"\n.. literalinclude:: {example.stem}.py"
+        out_string = (f"{example.name}"
+                      f"\n{'`' * (len(example.name))}\n"
+                      f"\n.. literalinclude:: {example.name}"
                       f"\n   :language: python"
                       f"\n   :linenos:"
                       f"\n\n\n")

diff --git a/docs/tutorial/geometry/index.rst b/docs/tutorial/geometry/index.rst
@@ -22,6 +22,7 @@ Geometry
     iss_keypoint_detector
     ray_casting
     distance_queries
+    uvmaps
 
 .. toctree::
     :caption: Interface

diff --git a/docs/tutorial/geometry/uvmaps.rst b/docs/tutorial/geometry/uvmaps.rst
@@ -24,7 +24,8 @@ Quick Reference to default UV Maps for some primitive shapes provided by Open3D
 
 The examples below all assume the following code preamble:
 
-.. code_block:: python
+.. code-block:: python
+
     import open3d as o3d
     import open3d.visualization.rendering as rendering
 
@@ -45,7 +46,9 @@ Example Texture Map
 Box (map uv to each face = false) 
 ************************************
 
-.. code_block:: python
+.. code-block:: python
+
+
     box = o3d.geometry.TriangleMesh.create_box(create_uv_map=True)
     o3d.visualization.draw({'name': 'box', 'geometry': box, 'material': material})
 
@@ -62,7 +65,9 @@ Box (map uv to each face = false)
 Box (map uv to each face = true)
 **************************************
 
-.. code_block:: python
+.. code-block:: python
+
+
     box = o3d.geometry.TriangleMesh.create_box(create_uv_map=True, map_texture_to_each_face=True)
     o3d.visualization.draw({'name': 'box', 'geometry': box, 'material': material})
 
@@ -80,7 +85,9 @@ Box (map uv to each face = true)
 Tetrahedral
 *************
 
-.. code_block:: python
+.. code-block:: python
+
+
     tetra = o3d.geometry.TriangleMesh.create_tetrahedron(create_uv_map=True)
     o3d.visualization.draw({'name': 'tetrahedron', 'geometry': tetra, 'material': material})
 
@@ -98,7 +105,9 @@ Tetrahedral
 Octahedral
 ***************
 
-.. code_block:: python
+.. code-block:: python
+
+
     octo = o3d.geometry.TriangleMesh.create_octahedron(create_uv_map=True)
     o3d.visualization.draw({'name': 'octahedron', 'geometry': octo, 'material': material})
 
@@ -115,7 +124,9 @@ Octahedral
 Icosahedron
 **************
 
-.. code_block:: python
+.. code-block:: python
+
+
     ico = o3d.geometry.TriangleMesh.create_icosahedron(create_uv_map=True)
     o3d.visualization.draw({'name': 'icosahedron', 'geometry': ico, 'material': material})
 
@@ -132,7 +143,9 @@ Icosahedron
 Cylinder
 *************
 
-.. code_block:: python
+.. code-block:: python
+
+
     cylinder = o3d.geometry.TriangleMesh.create_cylinder(create_uv_map=True)
     o3d.visualization.draw({'name': 'cylinder', 'geometry': cylinder, 'material': material})
 
@@ -149,7 +162,9 @@ Cylinder
 Cone
 *******
 
-.. code_block:: python
+.. code-block:: python
+
+
     cone = o3d.geometry.TriangleMesh.create_cone(create_uv_map=True)
     o3d.visualization.draw({'name': 'cone', 'geometry': cone, 'material': material})
 
@@ -166,7 +181,9 @@ Cone
 Sphere
 *******
 
-.. code_block:: python
+.. code-block:: python
+
+
     sphere = o3d.geometry.TriangleMesh.create_sphere(create_uv_map=True)
     o3d.visualization.draw({'name': 'sphere', 'geometry': sphere, 'material': material})
 

diff --git a/docs/tutorial/t_geometry/index.rst b/docs/tutorial/t_geometry/index.rst
@@ -1,5 +1,5 @@
 Geometry (Tensor)
-========
+=================
 
 .. toctree::
     :caption: Basics

diff --git a/docs/tutorial/t_pipelines/index.rst b/docs/tutorial/t_pipelines/index.rst
@@ -1,7 +1,7 @@
 .. _t_pipelines:
 
 Pipelines (Tensor) 
-=========
+==================
 
 .. toctree::
 

diff --git a/docs/tutorial/t_reconstruction_system/index.rst b/docs/tutorial/t_reconstruction_system/index.rst
@@ -74,7 +74,7 @@ Example config file for online reconstruction system has been provided in
 ``examples/python/t_reconstruction_system/default_config.yml``, which looks like the following:
 
 .. literalinclude:: ../../../examples/python/t_reconstruction_system/default_config.yml
-   :language: yml
+   :language: yaml
    :lineno-start: 1
    :lines: 1-
    :linenos:
@@ -87,7 +87,7 @@ images using the Intel RealSense camera. For more details, please see
 :ref:`capture_your_own_dataset`.
 
 Getting started with online reconstruction system
-``````````````````````````````````````
+`````````````````````````````````````````````````
 
 .. toctree::