Got rid of open3d package (#3)

* Removed using of open3d

* Got rid of open3d package

* Minor refactoring

* Added information to changelog

* Fixed pylint

Co-authored-by: Andrey Zhavoronkov <andrey.v.zhavoronkov@gmail.com>

CHANGELOG.md

@@ -20,6 +20,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Fixed
 - Task creation progressbar bug (<https://github.com/cvat-ai/cvat/issues/12>)
+- Removed Python dependency ``open3d`` which brought different issues to the building process
 
 ### Security
 - TDB

cvat/apps/engine/media_extractors.py

@@ -19,7 +19,6 @@ from natsort import os_sorted
 from pyunpack import Archive
 from PIL import Image, ImageFile
 from random import shuffle
-import open3d as o3d
 from cvat.apps.engine.utils import rotate_image
 from cvat.apps.engine.models import DimensionType, SortingMethod
 
@@ -820,7 +819,6 @@ MEDIA_TYPES = {
     }
 }
 
-
 class ValidateDimension:
 
     def __init__(self, path=None):
@@ -854,6 +852,21 @@ class ValidateDimension:
 
     @staticmethod
     def convert_bin_to_pcd(path, delete_source=True):
+        def write_header(fileObj, width, height):
+            fileObj.writelines(f'{line}\n' for line in [
+                'VERSION 0.7',
+                'FIELDS x y z',
+                'SIZE 4 4 4',
+                'TYPE F F F',
+                'COUNT 1 1 1',
+                f'WIDTH {width}',
+                f'HEIGHT {height}',
+                'VIEWPOINT 0 0 0 1 0 0 0',
+                f'POINTS {width * height}',
+                'DATA binary',
+            ])
+
+
         list_pcd = []
         with open(path, "rb") as f:
             size_float = 4
@@ -863,10 +876,11 @@ class ValidateDimension:
                 list_pcd.append([x, y, z])
                 byte = f.read(size_float * 4)
         np_pcd = np.asarray(list_pcd)
-        pcd = o3d.geometry.PointCloud()
-        pcd.points = o3d.utility.Vector3dVector(np_pcd)
         pcd_filename = path.replace(".bin", ".pcd")
-        o3d.io.write_point_cloud(pcd_filename, pcd)
+        with open(pcd_filename, "w") as f:
+            write_header(f, np_pcd.shape[0], 1)
+        with open(pcd_filename, "ab") as f:
+            f.write(np_pcd.astype('float32').tobytes())
         if delete_source:
             os.remove(path)
         return pcd_filename

cvat/requirements/base.txt

@@ -42,7 +42,6 @@ tensorflow==2.8.0 # Optional requirement of Datumaro. Use tensorflow-macos==2.8.
 # archives. Don't use as a python module because it has GPL license.
 patool==1.12
 diskcache==5.0.2
-open3d==0.14.1
 boto3==1.17.61
 azure-storage-blob==12.8.1
 google-cloud-storage==1.42.0