Fixes for pybind11-stubgen errors #6896

timohl · 2024-07-26T21:30:34Z

Type

Bug fix (non-breaking change which fixes an issue): Fixes #
New feature (non-breaking change which adds functionality). Resolves #
Breaking change (fix or feature that would cause existing functionality to not work as expected) Resolves #

Motivation and Context

This pull request is a follow up for/based on #6869 and contains more fixes for documentation and typing generation.
Related issues are #3052 and #6867.

Checklist:

I have run python util/check_style.py --apply to apply Open3D code style
to my code.
This PR changes Open3D behavior or adds new functionality.
- Both C++ (Doxygen) and Python (Sphinx / Google style) documentation is
  updated accordingly.
- I have added or updated C++ and / or Python unit tests OR included test
  results (e.g. screenshots or numbers) here.
I will follow up and update the code if CI fails.
For fork PRs, I have selected Allow edits from maintainers.

Description

Typings are generated using:

# Create venv
python -m venv .venv
. .venv/bin/activate
pip install python/requirements.txt
pip install python/requirements_build.txt

# Build open3d and install in .venv
mkdir build && cd build
cmake ..
make -j$(nproc) && make install-pip-package

# Generate typings
pip install pybind11-stubgen
pybind11-stubgen open3d -o typings

timohl · 2024-07-26T21:36:18Z

I split this from #6869 because it contains changes that actually modify the bindings a bit:
Some C++ enums are exposed and the output of some __repr__ methods changes.
Also, some errors are still work in progress.

Might be easier to first merge #6869 and then discuss further changes here (with more detailed explanation from me).

timohl · 2024-08-14T22:20:03Z

Rebased since #6869 was merged.

I moved the integration of stubs into the python package to #6917, since it is kind of separate and might require more investigation to have it work properly.

My plan is to finish most fixes tomorrow, and then I am going to explain all changes in detail.

timohl · 2024-08-25T11:05:55Z

ToGoogleDocString strips any type annotations from function signatures, so every docstring::ClassMethodDocInject(...) call strips typing info.
703bead fixes this, resulting in more types displayed in documentation, as well as, more types in generated stubs.
After 703bead pybind11-stubgen produces new errors (due to now checking all previously stripped methods):

pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.core.Tensor.from_dlpack : Can't find/import 'capsule'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.core.Tensor.to_dlpack : Can't find/import 'capsule'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.KDTreeFlann.__init__ : Can't find/import 'm'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.KDTreeFlann.__init__ : Can't find/import 'n'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.KDTreeFlann.search_hybrid_vector_xd : Can't find/import 'm'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.KDTreeFlann.search_knn_vector_xd : Can't find/import 'm'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.KDTreeFlann.search_radius_vector_xd : Can't find/import 'm'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.KDTreeFlann.search_vector_xd : Can't find/import 'm'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.KDTreeFlann.set_matrix_data : Can't find/import 'm'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.KDTreeFlann.set_matrix_data : Can't find/import 'n'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.PointCloud.detect_planar_patches : Invalid expression 'open3d.geometry.KDTreeSearchParam = KDTreeSearchParamKNN with knn'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.PointCloud.estimate_covariances : Invalid expression 'open3d.geometry.KDTreeSearchParam = KDTreeSearchParamKNN with knn'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.PointCloud.estimate_normals : Invalid expression 'open3d.geometry.KDTreeSearchParam = KDTreeSearchParamKNN with knn'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.PointCloud.estimate_point_covariances : Invalid expression 'open3d.geometry.KDTreeSearchParam = KDTreeSearchParamKNN with knn'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.PointCloud.voxel_down_sample_and_trace : Can't find/import 'm'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.PointCloud.voxel_down_sample_and_trace : Can't find/import 'n'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.TriangleMesh.deform_as_rigid_as_possible : Invalid expression '<DeformAsRigidAsPossibleEnergy.Spokes: 0>'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.TriangleMesh.filter_sharpen : Invalid expression '<FilterScope.All: 0>'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.TriangleMesh.filter_smooth_laplacian : Invalid expression '<FilterScope.All: 0>'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.TriangleMesh.filter_smooth_simple : Invalid expression '<FilterScope.All: 0>'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.TriangleMesh.filter_smooth_taubin : Invalid expression '<FilterScope.All: 0>'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.TriangleMesh.simplify_vertex_clustering : Invalid expression '<SimplificationContraction.Average: 0>'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.odometry.compute_correspondence : Invalid expression 'open3d.pipelines.odometry.OdometryOption = OdometryOption class. iteration_number_per_pyramid_level = [ 20, 10, 5, ] depth_diff_max = 0.030000 depth_min = 0.000000 depth_max'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.odometry.compute_rgbd_odometry : Invalid expression 'open3d.camera.PinholeCameraIntrinsic = PinholeCameraIntrinsic with width = -1 and height'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.odometry.compute_rgbd_odometry : Invalid expression '-1. Access intrinsics with intrinsic_matrix.'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.odometry.compute_rgbd_odometry : Invalid expression 'open3d.pipelines.odometry.OdometryOption = OdometryOption class. iteration_number_per_pyramid_level = [ 20, 10, 5, ] depth_diff_max = 0.030000 depth_min = 0.000000 depth_max'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.registration.Feature.data. : Can't find/import 'm'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.registration.Feature.data. : Can't find/import 'n'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.registration.Feature.data. : Can't find/import 'm'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.registration.Feature.data. : Can't find/import 'n'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.registration.registration_colored_icp : Invalid expression 'open3d.pipelines.registration.TransformationEstimationForColoredICP = TransformationEstimationForColoredICP with lambda_geometric'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.registration.registration_colored_icp : Invalid expression 'open3d.pipelines.registration.ICPConvergenceCriteria = ICPConvergenceCriteria class with relative_fitness'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.registration.registration_fgr_based_on_correspondence : Invalid expression 'open3d.pipelines.registration.FastGlobalRegistrationOption = FastGlobalRegistrationOption class with division_factor= tuple_test={} use_absolute_scale=1.4 decrease_mu=false maximum_correspondence_distance=true iteration_number=0.025 tuple_scale=64 maximum_tuple_count'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.registration.registration_fgr_based_on_feature_matching : Invalid expression 'open3d.pipelines.registration.FastGlobalRegistrationOption = FastGlobalRegistrationOption class with division_factor= tuple_test={} use_absolute_scale=1.4 decrease_mu=false maximum_correspondence_distance=true iteration_number=0.025 tuple_scale=64 maximum_tuple_count'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.registration.registration_generalized_icp : Invalid expression 'open3d.pipelines.registration.TransformationEstimationForGeneralizedICP = TransformationEstimationForGeneralizedICP with epsilon'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.registration.registration_generalized_icp : Invalid expression 'open3d.pipelines.registration.ICPConvergenceCriteria = ICPConvergenceCriteria class with relative_fitness'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.registration.registration_icp : Invalid expression 'open3d.pipelines.registration.ICPConvergenceCriteria = ICPConvergenceCriteria class with relative_fitness'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.registration.registration_ransac_based_on_correspondence : Invalid expression 'open3d.pipelines.registration.RANSACConvergenceCriteria = RANSACConvergenceCriteria class with max_iteration'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.registration.registration_ransac_based_on_feature_matching : Invalid expression 'open3d.pipelines.registration.RANSACConvergenceCriteria = RANSACConvergenceCriteria class with max_iteration'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.t.pipelines.slam.Model.track_frame_to_model : Invalid expression '<Method.PointToPlane: 0>'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.t.pipelines.slam.Model.track_frame_to_model : Invalid expression '[OdometryConvergenceCriteria[max_iteration=6, relative_rmse=1.000000e-06, relative_fitness=1.000000e-06]., OdometryConvergenceCriteria[max_iteration=3, relative_rmse=1.000000e-06, relative_fitness=1.000000e-06]., OdometryConvergenceCriteria[max_iteration=1, relative_rmse=1.000000e-06, relative_fitness=1.000000e-06].]'
pybind11_stubgen - [WARNING] Enum-like str representations were found with no matching mapping to the enum class location.
Use `--enum-class-locations` to specify full path to the following enum(s):
 - DeformAsRigidAsPossibleEnergy
 - SimplificationContraction
 - Method
 - FilterScope
pybind11_stubgen - [WARNING] Raw C++ types/values were found in signatures extracted from docstrings.
Please check the corresponding sections of pybind11 documentation to avoid common mistakes in binding code:
 - https://pybind11.readthedocs.io/en/latest/advanced/misc.html#avoiding-cpp-types-in-docstrings
 - https://pybind11.readthedocs.io/en/latest/advanced/functions.html#default-arguments-revisited

I fixed most of these errors so now the remaining pybind11-stubgen errors are:

pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.core.Tensor.from_dlpack : Can't find/import 'capsule'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.core.Tensor.to_dlpack : Can't find/import 'capsule'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.KDTreeFlann.__init__ : Can't find/import 'm'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.KDTreeFlann.__init__ : Can't find/import 'n'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.KDTreeFlann.search_hybrid_vector_xd : Can't find/import 'm'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.KDTreeFlann.search_knn_vector_xd : Can't find/import 'm'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.KDTreeFlann.search_radius_vector_xd : Can't find/import 'm'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.KDTreeFlann.search_vector_xd : Can't find/import 'm'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.KDTreeFlann.set_matrix_data : Can't find/import 'm'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.KDTreeFlann.set_matrix_data : Can't find/import 'n'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.PointCloud.voxel_down_sample_and_trace : Can't find/import 'm'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.geometry.PointCloud.voxel_down_sample_and_trace : Can't find/import 'n'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.registration.Feature.data. : Can't find/import 'm'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.registration.Feature.data. : Can't find/import 'n'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.registration.Feature.data. : Can't find/import 'm'
pybind11_stubgen - [  ERROR] In open3d.cpu.pybind.pipelines.registration.Feature.data. : Can't find/import 'n'

pybind11-stubgen seems to have problems with numpy annotations using m and n as dimensions, e.g., produced by Eigen::MatrixXd.
Also capsule seems to be problematic.

timohl · 2024-08-25T11:13:09Z

I do not know how to fix the last two errors right now, so for now I will have to leave them and maybe fix them later.
Now I will try to summarize and describe the changes, so review will be easier.

timohl · 2024-08-25T11:42:29Z

All changes can be summarized as follows:

Fixed ToGoogleDocString to not strip type information (see 703bead)
Fixed parser bug when docstrings contain , (20c1855, see strange default value for robust param in 0.18.0 docs)
Change __repr__ methods to output valid constructor call. Otherwise, stubs contain invalid code in default values.
Using py::arg_v for enums in default values. Otherwise, enums will be represented as <[Enum.Name]: [Value]> which is invalid in python.
Added missing enum/class binding for DtypeCode, TextureHandle

timohl · 2024-08-31T10:37:46Z

Fixed the last remaining errors:

Defining capsule = typing.Any (until types.CapsuleType will be available in 3.13, see Expose capsule type in types module python/cpython#109599)
Defining m and n as typing.TypeVar

Now pybind11-stubgen is able to run without any errors.
Maybe a CI workflow with IGNORE_STUBGEN_ERRORS=OFF could be added in the future when #6917 is resolved to prevent any regression.

* It now mirrors constructor call.

ssheorey

Thanks @timohl ! This is great.

dantetemplar · 2025-08-19T12:55:59Z

Issues stays with me:

(dmd-api) dante@dante-pc:~/PycharmProjects/dmd-api$ uv add "open3d>=0.19"
Resolved 102 packages in 1.65s
Prepared 1 package in 6m 41s
Uninstalled 1 package in 19ms
Installed 1 package in 35ms
 - open3d==0.18.0
 + open3d==0.19.0
(dmd-api) dante@dante-pc:~/PycharmProjects/dmd-api$ pybind11-stubgen -o .stubs --root-suffix "" open3d
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.argoverse.Argoverse : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.base_dataset.BaseDataset : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.base_dataset.BaseDatasetSplit : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.customdataset.Custom3D : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.customdataset.Custom3DSplit : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.inference_dummy.InferenceDummySplit : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.kitti.KITTI : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.lyft.Lyft : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.matterport_objects.MatterportObjects : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.nuscenes.NuScenes : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.parislille3d.ParisLille3D : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.parislille3d.ParisLille3DSplit : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.s3dis.S3DIS : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.s3dis.S3DISSplit : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.scannet.Scannet : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.scannet.ScannetSplit : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.semantic3d.Semantic3D : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.semantic3d.Semantic3DSplit : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.semantickitti.SemanticKITTI : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.semantickitti.SemanticKITTISplit : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.shapenet.ShapeNet : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.sunrgbd.SunRGBD : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.toronto3d.Toronto3D : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.toronto3d.Toronto3DSplit : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.tumfacade.TUMFacade : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.tumfacade.TUMFacadeSplit : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.waymo.Waymo : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d.cuda.pybind.geometry.VoxelGrid.create_from_point_cloud : Invalid expression '<VoxelPoolingMode.AVG: 0>'
pybind11_stubgen - [  ERROR] In open3d.cuda.pybind.geometry.VoxelGrid.create_from_point_cloud_within_bounds : Invalid expression '<VoxelPoolingMode.AVG: 0>'
pybind11_stubgen - [  ERROR] In open3d.cuda.pybind.t.io.RealSenseSensor.init_sensor : Invalid expression 'open3d::io::RGBDSensorConfig'
pybind11_stubgen - [  ERROR] In open3d.cuda.pybind.t.io.RealSenseSensor.init_sensor : Invalid expression '<open3d.cuda.pybind.t.io.RealSenseSensorConfig object at 0x7f41f8171070>'
pybind11_stubgen - [  ERROR] In open3d.cuda.pybind.t.io.RealSenseSensor.init_sensor : Invalid expression '<open3d.cuda.pybind.t.io.RealSenseSensorConfig object at 0x7f41f8146930>'
pybind11_stubgen - [WARNING] Enum-like str representations were found with no matching mapping to the enum class location.
Use `--enum-class-locations` to specify full path to the following enum(s):
 - VoxelPoolingMode
pybind11_stubgen - [WARNING] Raw C++ types/values were found in signatures extracted from docstrings.
Please check the corresponding sections of pybind11 documentation to avoid common mistakes in binding code:
 - https://pybind11.readthedocs.io/en/latest/advanced/misc.html#avoiding-cpp-types-in-docstrings
 - https://pybind11.readthedocs.io/en/latest/advanced/functions.html#default-arguments-revisited
(dmd-api) dante@dante-pc:~/PycharmProjects/dmd-api$ pybind11-stubgen -o ".venv/lib/python3.11/site-packages/" --root-suffix "" open3d
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.argoverse.Argoverse : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.base_dataset.BaseDataset : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.base_dataset.BaseDatasetSplit : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.customdataset.Custom3D : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.customdataset.Custom3DSplit : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.inference_dummy.InferenceDummySplit : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.kitti.KITTI : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.lyft.Lyft : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.matterport_objects.MatterportObjects : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.nuscenes.NuScenes : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.parislille3d.ParisLille3D : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.parislille3d.ParisLille3DSplit : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.s3dis.S3DIS : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.s3dis.S3DISSplit : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.scannet.Scannet : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.scannet.ScannetSplit : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.semantic3d.Semantic3D : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.semantic3d.Semantic3DSplit : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.semantickitti.SemanticKITTI : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.semantickitti.SemanticKITTISplit : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.shapenet.ShapeNet : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.sunrgbd.SunRGBD : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.toronto3d.Toronto3D : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.toronto3d.Toronto3DSplit : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.tumfacade.TUMFacade : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.tumfacade.TUMFacadeSplit : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d._ml3d.datasets.waymo.Waymo : Can't find/import '_abc._abc_data'
pybind11_stubgen - [  ERROR] In open3d.cuda.pybind.geometry.VoxelGrid.create_from_point_cloud : Invalid expression '<VoxelPoolingMode.AVG: 0>'
pybind11_stubgen - [  ERROR] In open3d.cuda.pybind.geometry.VoxelGrid.create_from_point_cloud_within_bounds : Invalid expression '<VoxelPoolingMode.AVG: 0>'
pybind11_stubgen - [  ERROR] In open3d.cuda.pybind.t.io.RealSenseSensor.init_sensor : Invalid expression 'open3d::io::RGBDSensorConfig'
pybind11_stubgen - [  ERROR] In open3d.cuda.pybind.t.io.RealSenseSensor.init_sensor : Invalid expression '<open3d.cuda.pybind.t.io.RealSenseSensorConfig object at 0x7f9aaa4d21f0>'
pybind11_stubgen - [  ERROR] In open3d.cuda.pybind.t.io.RealSenseSensor.init_sensor : Invalid expression '<open3d.cuda.pybind.t.io.RealSenseSensorConfig object at 0x7f9a55f8ba30>'
pybind11_stubgen - [WARNING] Enum-like str representations were found with no matching mapping to the enum class location.
Use `--enum-class-locations` to specify full path to the following enum(s):
 - VoxelPoolingMode
pybind11_stubgen - [WARNING] Raw C++ types/values were found in signatures extracted from docstrings.
Please check the corresponding sections of pybind11 documentation to avoid common mistakes in binding code:
 - https://pybind11.readthedocs.io/en/latest/advanced/misc.html#avoiding-cpp-types-in-docstrings
 - https://pybind11.readthedocs.io/en/latest/advanced/functions.html#default-arguments-revisited

timohl · 2025-08-20T21:43:24Z

I think the Can't find/import '_abc._abc_data' should not impact the generated stubs, but I will investigate if this is still an issue and if so, how to fix it.

The following was already fixed in #7148, which was added after the 0.19 release:

pybind11_stubgen - [  ERROR] In open3d.cuda.pybind.geometry.VoxelGrid.create_from_point_cloud : Invalid expression '<VoxelPoolingMode.AVG: 0>'
pybind11_stubgen - [  ERROR] In open3d.cuda.pybind.geometry.VoxelGrid.create_from_point_cloud_within_bounds : Invalid expression '<VoxelPoolingMode.AVG: 0>'

The realsense errors should be easily fixable using py::arg_v("sensor_config", <default_val>, "<default_str>") instead of "sensor_config"_a = <default_val> here:

Open3D/cpp/pybind/t/io/sensor.cpp

Lines 277 to 296 in 3550f4e

    
           .def("init_sensor", 
        
                py::overload_cast<const RGBDSensorConfig &, size_t, 
        
                                  const std::string &>( 
        
                        &RealSenseSensor::InitSensor), 
        
                py::call_guard<py::gil_scoped_release>(), 
        
                "sensor_config"_a = RealSenseSensorConfig{}, 
        
                "sensor_index"_a = 0, "filename"_a = "", 
        
                "Configure sensor with custom settings. If this is skipped, " 
        
                "default settings will be used. You can enable recording to a " 
        
                "bag file by specifying a filename.") 
        
           .def("init_sensor", 
        
                py::overload_cast<const RealSenseSensorConfig &, size_t, 
        
                                  const std::string &>( 
        
                        &RealSenseSensor::InitSensor), 
        
                py::call_guard<py::gil_scoped_release>(), 
        
                "sensor_config"_a = RealSenseSensorConfig{}, 
        
                "sensor_index"_a = 0, "filename"_a = "", 
        
                "Configure sensor with custom settings. If this is skipped, " 
        
                "default settings will be used. You can enable recording to a " 
        
                "bag file by specifying a filename.")

I do not have time to work on this currently (life is busy right now).
Feel free to create a PR for this yourself, or wait for me to get some free time. ;-)
Also be aware, that my latest PR #7249 upgrades pybind11 which further improves stubs especially for numpy arraylike compatibility.
My next step would be to bundle the stubs into the package to have typing support out of the box, but I am not sure, when I will get to that.

ssheorey self-requested a review August 14, 2024 14:59

timohl force-pushed the typing-fixes branch from 162f5b1 to 703bead Compare August 14, 2024 21:42

timohl mentioned this pull request Aug 14, 2024

Include generated stubs in python package #6917

Draft

11 tasks

timohl marked this pull request as ready for review August 25, 2024 11:43

timohl added 17 commits November 26, 2024 21:11

Added open3d.core.Dtype.DtypeCode enum bindings.

04e83e6

Changed TransformationEstimationPointToPoint.__repr__.

30fcc15

* It now mirrors constructor call.

Using py::arg_v to provide consise default Tensor values.

a3325da

Added __repr__ for Margins to provide nicer default values.

83d4071

Added TextureHandle binding.

6388f6b

Improved __repr__ for SLACDebugOption and SLACOptimizerParams.

18c3240

Improved arguments with enum default values using py::arg_v.

26c1c18

Fixed false tokens in GetArgumentTokens when docstring contains ",".

30a8cf4

Added type annotations to func signature output by ToGoogleDocString.

54c2c55

Changed kdtree __repr__ methods to return proper constructor call.

7721527

Using py::arg_v to translate default values with enum type.

9bf5587

Fixed more __repr__ methods to return proper constructor calls.

8ffed61

Applied style checker.

808bdd1

Replaced substr with resize to fix codacy issue.

eda0be5

Define capsule as Any type to fix pybind11-stubgen error.

bd01469

Added m and n as TypeVars to fix stubgen when using Eigen::MatrixXd.

79d7767

Applied style checker.

8da5d7b

timohl force-pushed the typing-fixes branch from 4590700 to 8da5d7b Compare November 26, 2024 20:13

ssheorey approved these changes Dec 11, 2024

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ssheorey merged commit 601516a into isl-org:main Dec 11, 2024
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