Minor pre v0.17 fixes (#5972)

* Fix examples display in docs.
* Easier install command for devel Open3D
* Remove space after open3d.pc -isystem for AppleClang compatibility.
* Install GUI resources with libOpen3D
* Fix resources path for Windows
* Set camera with intrinsic, extrinsic matrix from draw()

6 files changed, 26 insertions, 13 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2659d7d2..2c37ce5f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -354,11 +354,15 @@ if(UNIX OR CYGWIN)
     set(Open3D_INSTALL_INCLUDE_DIR "${CMAKE_INSTALL_INCLUDEDIR}")
     set(Open3D_INSTALL_BIN_DIR "${CMAKE_INSTALL_BINDIR}")
     set(Open3D_INSTALL_LIB_DIR "${CMAKE_INSTALL_LIBDIR}")
+    # Put resources in */share/
+    set(Open3D_INSTALL_RESOURCE_DIR "${CMAKE_INSTALL_DATADIR}")
     set(Open3D_INSTALL_CMAKE_DIR "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}")
 else()
     set(Open3D_INSTALL_INCLUDE_DIR include)
     set(Open3D_INSTALL_BIN_DIR bin)
     set(Open3D_INSTALL_LIB_DIR lib)
+    # Put resources in */bin, with executables / DLLs
+    set(Open3D_INSTALL_RESOURCE_DIR bin)
     set(Open3D_INSTALL_CMAKE_DIR CMake)
 endif()
 
diff --git a/cpp/open3d/CMakeLists.txt b/cpp/open3d/CMakeLists.txt
index 5b938fe5..6da3581e 100644
--- a/cpp/open3d/CMakeLists.txt
+++ b/cpp/open3d/CMakeLists.txt
@@ -173,6 +173,12 @@ install(FILES
         "${PROJECT_BINARY_DIR}/Open3DConfigVersion.cmake"
         DESTINATION "${Open3D_INSTALL_CMAKE_DIR}" COMPONENT dev)
 
+# Install GUI resources
+if (BUILD_GUI)
+    install(DIRECTORY ${GUI_RESOURCE_DIR}
+         DESTINATION "${Open3D_INSTALL_RESOURCE_DIR}")
+endif()
+
 if (BUILD_SHARED_LIBS AND UNIX)
     file(CONFIGURE OUTPUT Open3D.pc.in
          CONTENT [=[
@@ -184,7 +190,7 @@ Name: Open3D
 Description: @PROJECT_DESCRIPTION@
 URL: @PROJECT_HOMEPAGE_URL@
 Version: @PROJECT_VERSION@
-Cflags: -std=c++@CMAKE_CXX_STANDARD@ -isystem ${includedir} -isystem ${includedir}/open3d/3rdparty -D$<JOIN:$<TARGET_PROPERTY:INTERFACE_COMPILE_DEFINITIONS>, -D>
+Cflags: -std=c++@CMAKE_CXX_STANDARD@ -isystem${includedir} -isystem${includedir}/open3d/3rdparty -D$<JOIN:$<TARGET_PROPERTY:INTERFACE_COMPILE_DEFINITIONS>, -D>
 Libs: -L${libdir} -Wl,-rpath,${libdir} -lOpen3D]=]  @ONLY NEWLINE_STYLE LF)
     file(GENERATE OUTPUT Open3D.pc INPUT "${CMAKE_CURRENT_BINARY_DIR}/Open3D.pc.in"
         TARGET "Open3D::Open3D")
diff --git a/cpp/open3d/visualization/gui/Application.cpp b/cpp/open3d/visualization/gui/Application.cpp
index 956999a5..94fc0e00 100644
--- a/cpp/open3d/visualization/gui/Application.cpp
+++ b/cpp/open3d/visualization/gui/Application.cpp
@@ -87,7 +87,10 @@ std::string FindResourcePath(int argc, const char *argv[]) {
 
     auto resource_path = path + "/resources";
     if (!open3d::utility::filesystem::DirectoryExists(resource_path)) {
-        return path + "/../resources";  // building with Xcode
+        resource_path = path + "/../resources";  // building with Xcode
+        if (!open3d::utility::filesystem::DirectoryExists(resource_path)) {
+            resource_path = path + "/share/resources";  // GNU
+        }
     }
     return resource_path;
 }
diff --git a/docs/getting_started.in.rst b/docs/getting_started.in.rst
index 347f97f7..e3ff7529 100644
--- a/docs/getting_started.in.rst
+++ b/docs/getting_started.in.rst
@@ -49,9 +49,8 @@ Pip (PyPI)
     In general, we recommend using a
     `virtual environment <https://docs.python-guide.org/dev/virtualenvs/>`_
     or `conda environment <https://docs.conda.io/en/latest/miniconda.html>`_.
-    Otherwise, depending on the configurations, ``pip3`` may be needed for
-    Python 3, or the ``--user`` option may need to be used to avoid permission
-    issues. For example:
+    Otherwise, depending on the configurations, you may need ``pip3``  for
+    Python 3, or the ``--user`` option to avoid permission issues. For example:
 
     .. code-block:: bash
 
@@ -96,13 +95,12 @@ version (``HEAD`` of ``master`` branch):
       - `Python 3.10 <https://storage.googleapis.com/open3d-releases-master/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp310-cp310-win_amd64.whl>`__
 
 Please use these links from the `latest version of this page
-<http://www.open3d.org/docs/latest/getting_started.html>`__ only. For example,
-to install the latest development version on Linux for Python 3.9:
+<http://www.open3d.org/docs/latest/getting_started.html>`__ only. You can also
+install the latest development version directly with pip:
 
 .. code-block:: bash
 
-    pip install --user --pre \
-        https://storage.googleapis.com/open3d-releases-master/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp39-cp39-linux_x86_64.whl
+    pip install --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
@@ -194,8 +192,8 @@ provided here [#]_:
     Linux versions (e.g. if the OS came with GCC versions 5+) use the CXX11 ABI,
     while PyTorch and Tensorflow libraries typically use the pre CXX11 ABI.
 
-If you need only a subset of features, or a custom build configuration, please
-refer to :ref:`compilation` and compile Open3D from source.
+If you need a subset of features, or a custom build configuration, please refer
+to :ref:`compilation` and compile Open3D from source.
 
 Try it
 ------
diff --git a/docs/make_docs.py b/docs/make_docs.py
index 7a3b77de..64880410 100644
--- a/docs/make_docs.py
+++ b/docs/make_docs.py
@@ -312,8 +312,6 @@ class PyExampleDocsBuilder:
                       f"\n.. literalinclude:: {example.stem}.py"
                       f"\n   :language: python"
                       f"\n   :linenos:"
-                      f"\n   :lineno-start: 27"
-                      f"\n   :lines: 27-"
                       f"\n\n\n")
 
         with open(output_path / "index.rst", "a") as f:
diff --git a/python/open3d/visualization/draw.py b/python/open3d/visualization/draw.py
index cf1c821b..70c5eb06 100644
--- a/python/open3d/visualization/draw.py
+++ b/python/open3d/visualization/draw.py
@@ -18,6 +18,8 @@ def draw(geometry=None,
          eye=None,
          up=None,
          field_of_view=60.0,
+         intrinsic_matrix=None,
+         extrinsic_matrix=None,
          bg_color=(1.0, 1.0, 1.0, 1.0),
          bg_image=None,
          ibl=None,
@@ -65,6 +67,8 @@ def draw(geometry=None,
     w.reset_camera_to_default()  # make sure far/near get setup nicely
     if lookat is not None and eye is not None and up is not None:
         w.setup_camera(field_of_view, lookat, eye, up)
+    elif intrinsic_matrix is not None and extrinsic_matrix is not None:
+        w.setup_camera(intrinsic_matrix, extrinsic_matrix, width, height)
 
     w.animation_time_step = animation_time_step
     if animation_duration is not None: