Merge branch 'main' of github.com:isl-org/Open3D into nix-build

.clang-format

@@ -2,7 +2,7 @@ BasedOnStyle: Google
 IndentWidth: 4
 ColumnLimit: 80
 UseTab: Never
-Standard: c++14
+Standard: c++17
 ContinuationIndentWidth: 8
 AccessModifierOffset: -4
 BinPackParameters: false

.github/workflows/macos.yml

@@ -32,9 +32,9 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        # macos-12 is Intel runner, macos-14 is Apple Silicon
+        # macos-13 is Intel runner, macos-14 is Apple Silicon
         # https://github.com/actions/runner-images
-        os: [macos-12, macos-14]
+        os: [macos-13, macos-14]
         CONFIG: [ON, OFF]
     env:
       BUILD_SHARED_LIBS: ${{ matrix.CONFIG }}
@@ -62,29 +62,22 @@ jobs:
       - name: Set up Python version
         uses: actions/setup-python@v5
         with:
-          python-version: '3.11'
+          python-version: '3.12'
 
       - name: Install dependencies
         run: |
           brew install ccache pkg-config
 
-          if [[ ${{ runner.arch}} == "ARM64"  ]]; then
+          if [[ ${{ runner.arch }} == "ARM64"  ]]; then
             # Fix gfortran not found issue
             ln -s $(which gfortran-13) /usr/local/bin/gfortran
-
-            # Default macos-14 image Xcode (version 15.0.1) linker causes build issues.
-            # Newer Xcode versions work, but embree recommends Apple clang <= 14 on
-            # arm64 to avoid possible "EXEC_BAD_INSTRUCTION" runtime exceptions:
-            # https://github.com/embree/embree/releases/tag/v4.3.1
-            sudo xcode-select -switch /Applications/Xcode_14.3.1.app
           fi
 
           # Install libomp 11.1.0 from old brew bottle for x64 catalina (10.15)
           # / arm64 big sur (11.0). Directly installing the Ruby formula will
           # install for the current OS.
           # https://github.com/microsoft/LightGBM/issues/4229
           if [[ ${{ runner.arch}} == "X64"  ]]; then
-            brew unlink libomp
             # x64 catalina (10.15) bottle
             export LIBOMP_BOTTLE_HASH=45a5aa653bd45bd5ff5858580b1a4670c4b5a51ea29d68d45a53f72f56010e05
           else # ARM64
@@ -142,7 +135,7 @@ jobs:
     permissions:
       contents: write  # Release upload
     name: Fuse x64 and ARM64 viewer app
-    runs-on: [macos-12]
+    runs-on: [macos-13]
     needs: [MacOS]
     steps:
       - name: Checkout source code  # for gh release upload
@@ -191,10 +184,10 @@ jobs:
       fail-fast: false
       # https://github.community/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6
       matrix:
-        # macos-12 is Intel runner, macos-14 is Apple Silicon
+        # macos-13 is Intel runner, macos-14 is Apple Silicon
         # https://github.com/actions/runner-images
-        os: [macos-12, macos-14]
-        python_version: ['3.8', '3.9', '3.10', '3.11']
+        os: [macos-13, macos-14]
+        python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
@@ -209,9 +202,13 @@ jobs:
             python_version: '3.9'
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
 
     env:
       BUILD_CUDA_MODULE: OFF
+      # TensorFlow v2.16 does not support Python 3.8
+      BUILD_TENSORFLOW_OPS: ${{ matrix.python_version == '3.8' && 'OFF' || 'ON' }}
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
     steps:
       - name: Checkout source code
@@ -256,12 +253,10 @@ jobs:
           # Fix macos-14 arm64 runner image issues, see comments in MacOS job.
           if [[ ${{ runner.arch}} == "ARM64"  ]]; then
             ln -s $(which gfortran-13) /usr/local/bin/gfortran
-            sudo xcode-select -switch /Applications/Xcode_14.3.1.app
           fi
 
           # Install libomp 11.1.0. See comment above.
           if [[ ${{ runner.arch}} == "X64"  ]]; then
-            brew unlink libomp
             # x64 catalina (10.15) bottle
             export LIBOMP_BOTTLE_HASH=45a5aa653bd45bd5ff5858580b1a4670c4b5a51ea29d68d45a53f72f56010e05
           else # ARM64
@@ -291,22 +286,33 @@ jobs:
           path: build/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }}
           if-no-files-found: error
 
+      - name: Update devel release (x86_64 only wheels)
+        if: ${{ github.ref == 'refs/heads/main' && (matrix.python_version == '3.8' || matrix.python_version == '3.9') }}
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          gh release upload main-devel build/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }} --clobber
+          gh release view main-devel
+
+
   fuse-wheel:
     name: Fuse universal2 wheel
     permissions:
       contents: write  # Release upload
-    runs-on: [macos-12]
+    runs-on: [macos-13]
     needs: [build-wheel]
     strategy:
       fail-fast: false
       # https://github.community/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6
       matrix:
-        python_version: ['3.10', '3.11']
+        python_version: ['3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
     steps:
       - name: Checkout source code  # for gh release upload
         uses: actions/checkout@v4
@@ -336,11 +342,8 @@ jobs:
           PYTAG="-cp$(echo ${{ env.python_version }} | tr -d '.')"
           mkdir universal_wheels
           pip install delocate
-          delocate-fuse -v x64_wheels/open3d-*${PYTAG}*.whl arm64_wheels/open3d-*${PYTAG}*.whl
-          # Normalize file name as delocate-fuse doesn't update it
-          OLD_WHL_NAME=$(basename x64_wheels/open3d-*${PYTAG}*.whl)
-          NEW_WHL_NAME=${OLD_WHL_NAME/x86_64/universal2}
-          mv x64_wheels/${OLD_WHL_NAME} universal_wheels/${NEW_WHL_NAME}
+          delocate-merge -v -w universal_wheels x64_wheels/open3d-*${PYTAG}*.whl arm64_wheels/open3d-*${PYTAG}*.whl
+          NEW_WHL_NAME=$(basename universal_wheels/open3d-*${PYTAG}*.whl)
           echo "PIP_PKG_NAME=$NEW_WHL_NAME" >> $GITHUB_ENV
 
       - name: Upload merged wheels
@@ -367,8 +370,8 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [macos-12, macos-14]
-        python_version: ['3.8', '3.9', '3.10', '3.11']
+        os: [macos-13, macos-14]
+        python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
@@ -382,6 +385,8 @@ jobs:
             python_version: '3.9'
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
 
     env:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
@@ -393,6 +398,7 @@ jobs:
         uses: actions/checkout@v4
         with:
           repository: isl-org/Open3D-ML
+          ref: main
           path: ${{ env.OPEN3D_ML_ROOT }}
 
       - name: Download wheels

.github/workflows/ubuntu-cuda.yml

@@ -54,15 +54,15 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - CI_CONFIG: 2-bionic
-          - CI_CONFIG: 3-ml-shared-bionic
-          - CI_CONFIG: 4-shared-bionic
-          - CI_CONFIG: 5-ml-focal
+          - CI_CONFIG: 2-focal
+          - CI_CONFIG: 3-ml-shared-focal
+          - CI_CONFIG: 4-shared-focal
+          - CI_CONFIG: 5-ml-jammy
     env:
       # Export everything from matrix to be easily used.
       # Docker tag and ccache names must be consistent with docker_build.sh
       CI_CONFIG          : ${{ matrix.CI_CONFIG }}
-      BUILD_PACKAGE      : ${{ contains(fromJson('["3-ml-shared-bionic", "4-shared-bionic"]'), matrix.CI_CONFIG) }}
+      BUILD_PACKAGE      : ${{ contains(fromJson('["3-ml-shared-focal", "4-shared-focal"]'), matrix.CI_CONFIG) }}
       GCE_INSTANCE_PREFIX: open3d-ci-${{ matrix.CI_CONFIG }}
       DOCKER_TAG         : open3d-ci:${{ matrix.CI_CONFIG }}
       CCACHE_TAR_NAME    : open3d-ci-${{ matrix.CI_CONFIG }}
@@ -180,7 +180,7 @@ jobs:
           gcloud compute ssh "${INSTANCE_NAME}" \
             --zone="${GCE_ZONE}" \
             --command="ls -alh \
-                    && gsutil cp ${CCACHE_TAR_NAME}.tar.gz gs://open3d-ci-cache/"
+                    && gsutil cp ${CCACHE_TAR_NAME}.tar.xz gs://open3d-ci-cache/"
 
       - name: VM delete
         if: always()

.github/workflows/ubuntu-wheel.yml

@@ -33,7 +33,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: ['3.8', '3.9', '3.10', '3.11']
+        python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
@@ -43,10 +43,12 @@ jobs:
             python_version: '3.9'
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
     env:
       DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }}
       PYTHON_VERSION: ${{ matrix.python_version }}
-      CCACHE_TAR_NAME: open3d-ubuntu-1804-cuda-ci-ccache
+      CCACHE_TAR_NAME: open3d-ubuntu-2004-cuda-ci-ccache
       OPEN3D_CPU_RENDERING: true
     steps:
       - name: Checkout source code
@@ -67,6 +69,8 @@ jobs:
             docker/docker_build.sh cuda_wheel_py310_dev
           elif [ "${{ env.PYTHON_VERSION }}" = "3.11" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
             docker/docker_build.sh cuda_wheel_py311_dev
+          elif [ "${{ env.PYTHON_VERSION }}" = "3.12" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
+            docker/docker_build.sh cuda_wheel_py312_dev
           elif [ "${{ env.PYTHON_VERSION }}" = "3.8" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
             docker/docker_build.sh cuda_wheel_py38
           elif [ "${{ env.PYTHON_VERSION }}" = "3.9" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
@@ -75,6 +79,8 @@ jobs:
             docker/docker_build.sh cuda_wheel_py310
           elif [ "${{ env.PYTHON_VERSION }}" = "3.11" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
             docker/docker_build.sh cuda_wheel_py311
+          elif [ "${{ env.PYTHON_VERSION }}" = "3.12" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
+            docker/docker_build.sh cuda_wheel_py312
           fi
           PIP_PKG_NAME="$(basename ${GITHUB_WORKSPACE}/open3d-[0-9]*.whl)"
           PIP_CPU_PKG_NAME="$(basename ${GITHUB_WORKSPACE}/open3d_cpu*.whl)"
@@ -122,7 +128,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: ['3.8', '3.9', '3.10', '3.11']
+        python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
@@ -132,6 +138,8 @@ jobs:
             python_version: '3.9'
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
     env:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
     steps:

.github/workflows/vtk_packages.yml

@@ -11,7 +11,7 @@ jobs:
     permissions:
       contents: write
     # TODO: Convert to docker
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
     steps:
       - name: Checkout source code
         uses: actions/checkout@v4

.github/workflows/webrtc.yml

@@ -30,10 +30,10 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-18.04, macos-11]
+        os: [ubuntu-20.04, macos-12]
         GLIBCXX_USE_CXX11_ABI: [0, 1]
         exclude:
-          - os: macos-11
+          - os: macos-12
             GLIBCXX_USE_CXX11_ABI: 0
     env:
       GLIBCXX_USE_CXX11_ABI: ${{ matrix.GLIBCXX_USE_CXX11_ABI }}
@@ -48,7 +48,7 @@ jobs:
           python-version: 3.8
 
       - name: Install dependencies
-        if: ${{ matrix.os == 'ubuntu-18.04' }}
+        if: ${{ matrix.os == 'ubuntu-20.04' }}
         run: |
           source 3rdparty/webrtc/webrtc_build.sh
           install_dependencies_ubuntu

.github/workflows/windows.yml

@@ -25,6 +25,7 @@ env:
   STOOLS_VER: "67.3.2"
   JEDI_VER: "0.17.2"  # https://github.com/ipython/ipython/issues/12740
   IDNA_VER: "2.8"  # https://github.com/psf/requests/issues/5710
+  CUDA_VERSION: "12.1.0"
   SRC_DIR: "D:\\a\\open3d\\open3d"
   BUILD_DIR: "C:\\Open3D\\build"
   NPROC: 2
@@ -47,7 +48,6 @@ jobs:
             STATIC_RUNTIME: ON
         include:
           - BUILD_CUDA_MODULE: ON
-            CUDA_VERSION: 11.0.3
     env:
       BUILD_WEBRTC: ${{ ( matrix.BUILD_SHARED_LIBS == 'OFF' && matrix.STATIC_RUNTIME == 'ON' ) && 'ON' || 'OFF' }}
 
@@ -64,20 +64,20 @@ jobs:
         if: ${{ matrix.BUILD_CUDA_MODULE == 'ON' }}
         run: |
           # Define variables
-          $CUDA_VER_FULL = "${{ matrix.CUDA_VERSION }}"
+          $CUDA_VER_FULL = "${{ env.CUDA_VERSION }}"
           $CUDA_VER_ARR = $CUDA_VER_FULL.Split(".")
           $CUDA_VER = "$($CUDA_VER_ARR[0]).$($CUDA_VER_ARR[1])"
           $CUDA_VER_ID = "$($CUDA_VER_ARR[0])_$($CUDA_VER_ARR[1])"
           # Installer url
           if ( $CUDA_VER_ARR[0] -ge 11 ) {
-            $CUDA_URL = "http://developer.download.nvidia.com/compute/cuda/$CUDA_VER_FULL/network_installers/cuda_$($CUDA_VER_FULL)_win10_network.exe"
+            $CUDA_URL = "http://developer.download.nvidia.com/compute/cuda/$CUDA_VER_FULL/network_installers/cuda_$($CUDA_VER_FULL)_windows_network.exe"
           } else {
             $CUDA_URL = "http://developer.download.nvidia.com/compute/cuda/$CUDA_VER/Prod/network_installers/cuda_$($CUDA_VER_FULL)_win10_network.exe"
           }
           # Installer arguments
           $CUDA_INSTALL_ARGS = "-s"
           # Required packages
-          $CUDA_PACKAGES = "nvcc", "visual_studio_integration", "cublas", "cublas_dev", "cudart", "cusolver", "cusolver_dev", "npp", "npp_dev"
+          $CUDA_PACKAGES = "nvcc", "visual_studio_integration", "cublas", "cublas_dev", "cudart", "cusolver", "cusolver_dev", "npp", "npp_dev", "thrust"
           $CUDA_PACKAGES.ForEach({ $CUDA_INSTALL_ARGS += " $($_)_$($CUDA_VER)" })
           # Download and install CUDA
           echo "Downloading CUDA installer from $CUDA_URL"
@@ -110,6 +110,7 @@ jobs:
           if (${env:DEVELOPER_BUILD} -ne "OFF") {
             ${env:DEVELOPER_BUILD}="ON"
           }
+          cmake --version
           cmake -G "Visual Studio 16 2019" -A x64 `
             -DDEVELOPER_BUILD="${env:DEVELOPER_BUILD}" `
             -DCMAKE_SYSTEM_VERSION="10.0.19041.0" `
@@ -200,10 +201,9 @@ jobs:
           echo "Add --gtest_random_seed=SEED to the test command to repeat this test sequence."
           .\bin\${{ matrix.CONFIG }}\tests.exe --gtest_shuffle --gtest_filter=-*ReduceSum64bit2DCase0*:*ReduceSum64bit2DCase3*
       - name: Linking to Open3D
+        working-directory: ${{ env.SRC_DIR }}/examples/cmake/open3d-cmake-find-package
         run: |
           $ErrorActionPreference = 'Stop'
-          git clone https://github.com/isl-org/open3d-cmake-find-package.git
-          cd open3d-cmake-find-package
           mkdir build
           cd build
           cmake -G "Visual Studio 16 2019" -A x64 `
@@ -241,7 +241,7 @@ jobs:
       fail-fast: false
       # https://github.community/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6
       matrix:
-        python_version: ['3.8', '3.9', '3.10', '3.11']
+        python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
@@ -251,6 +251,8 @@ jobs:
             python_version: '3.9'
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
 
     steps:
       - name: Checkout source code
@@ -329,7 +331,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: ['3.8', '3.9', '3.10', '3.11']
+        python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
@@ -339,6 +341,8 @@ jobs:
             python_version: '3.9'
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
 
     steps:
       - name: Checkout source code