Merge branch 'isl-org:main' into tensor-arange-signature

isl-org · Dec 15, 2024 · 3dd0be0 · 3dd0be0
2 parents a4badc6 + 81201f9
commit 3dd0be0
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diff --git a/.github/workflows/macos.yml b/.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 }}
@@ -68,23 +68,16 @@ jobs:
         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
@@ -191,9 +184,9 @@ 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]
+        os: [macos-13, macos-14]
         python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
@@ -260,12 +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
@@ -308,7 +299,7 @@ jobs:
     name: Fuse universal2 wheel
     permissions:
       contents: write  # Release upload
-    runs-on: [macos-12]
+    runs-on: [macos-13]
     needs: [build-wheel]
     strategy:
       fail-fast: false
@@ -379,7 +370,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [macos-12, macos-14]
+        os: [macos-13, macos-14]
         python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}

diff --git a/.github/workflows/ubuntu-cuda.yml b/.github/workflows/ubuntu-cuda.yml
@@ -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()

diff --git a/3rdparty/stdgpu/stdgpu.cmake b/3rdparty/stdgpu/stdgpu.cmake
@@ -7,9 +7,8 @@ include(ExternalProject)
 ExternalProject_Add(
     ext_stdgpu
     PREFIX stdgpu
-    # Jun 20 2024. Later versions need CUDA 11.5 and an API update (stdgpu::pair)
-    URL https://github.com/stotko/stdgpu/archive/1b6a3319f1fbf180166e1bbc1d75f69ab622a0a0.tar.gz
-    URL_HASH SHA256=faa3bf9cbe49ef9cc09e2e07e60d10bbf3b896edb6089c920bebe0f850fd95e4
+    URL https://github.com/stotko/stdgpu/archive/2588168d226bd17229dbf58d821549580791089d.tar.gz
+    URL_HASH SHA256=86e50789bbe21c57f64358c6acbd4481d56c1e45ce9ba1fb5c5c8482c3973215
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/stdgpu"
     UPDATE_COMMAND ""
     CMAKE_ARGS

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -52,6 +52,7 @@
 -   Fix alpha shape reconstruction if alpha too small for point scale (PR #6998)
 -   Fix render to depth image on Apple Retina displays (PR #7001)
 -   Fix infinite loop in segment_plane if num_points < ransac_n (PR #7032)
+-   Add select_by_index method to Feature class (PR #7039)
 
 ## 0.13
 

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -430,8 +430,8 @@ if(BUILD_CUDA_MODULE)
     endif()
     enable_language(CUDA)
     set(CMAKE_CUDA_STANDARD 17)
-    if (CMAKE_CUDA_COMPILER_ID STREQUAL "NVIDIA" AND CMAKE_CUDA_COMPILER_VERSION VERSION_LESS "10.1")
-        message(FATAL_ERROR "CUDA 10.0 and older are not supported. Please upgrade to CUDA 10.1 or newer.")
+    if (CMAKE_CUDA_COMPILER_ID STREQUAL "NVIDIA" AND CMAKE_CUDA_COMPILER_VERSION VERSION_LESS "11.5")
+        message(FATAL_ERROR "CUDA 11.4 and older are not supported. Please upgrade to CUDA 11.5 or newer.")
     endif()
 endif()
 
@@ -476,6 +476,8 @@ if(WIN32)
     #       Then, we could use -fvisibility=hidden for Linux as well
     SET(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
     if(MSVC)
+        # MSVC standards-compliant mode: Error in PoissonRecon 3rd party header
+        # add_compile_options($<$<COMPILE_LANGUAGE:CXX>:"/permissive-">)   
         # Make sure we don't hit the 65535 object member limit with MSVC
         #
         # /bigobj allows object files with more than 65535 members

diff --git a/cmake/Open3DShowAndAbortOnWarning.cmake b/cmake/Open3DShowAndAbortOnWarning.cmake
@@ -33,28 +33,14 @@ function(open3d_show_and_abort_on_warning target)
         string(REPLACE ";" "," DISABLE_NVCC_WARNINGS "${DISABLE_NVCC_WARNINGS}")
 
         set(CUDA_FLAGS "--Werror cross-execution-space-call,deprecated-declarations")
-        if (CMAKE_CUDA_COMPILER_VERSION VERSION_GREATER_EQUAL "10.2")
-            string(APPEND CUDA_FLAGS " --Werror all-warnings")
-        endif()
-        if (CMAKE_CUDA_COMPILER_VERSION VERSION_GREATER_EQUAL "11.0")
-            string(APPEND CUDA_FLAGS " --Werror ext-lambda-captures-this")
-        endif()
+        string(APPEND CUDA_FLAGS " --Werror all-warnings")
+        string(APPEND CUDA_FLAGS " --Werror ext-lambda-captures-this")
         string(APPEND CUDA_FLAGS " --expt-relaxed-constexpr")
-        if (CMAKE_CUDA_COMPILER_VERSION VERSION_GREATER_EQUAL "11.2")
-            string(APPEND CUDA_FLAGS " --diag-suppress ${DISABLE_NVCC_WARNINGS}")
-        else()
-            string(APPEND CUDA_FLAGS " -Xcudafe --diag_suppress=[${DISABLE_NVCC_WARNINGS}]")
-        endif()
+        string(APPEND CUDA_FLAGS " --diag-suppress ${DISABLE_NVCC_WARNINGS}")
 
         # Host compiler flags
         if (MSVC)
             set(CUDA_DISABLE_MSVC_WARNINGS ${DISABLE_MSVC_WARNINGS})
-            if (CMAKE_CUDA_COMPILER_VERSION VERSION_LESS "11.2")
-                list(APPEND CUDA_DISABLE_MSVC_WARNINGS $<$<CONFIG:Debug>:/wd4700>) # uninitialized local variable used (thrust)
-            endif()
-            if (CMAKE_CUDA_COMPILER_VERSION VERSION_LESS "11.1")
-                list(APPEND CUDA_DISABLE_MSVC_WARNINGS /wd4515) # namespace uses itself (thrust)
-            endif()
             string(REPLACE ";" "," CUDA_DISABLE_MSVC_WARNINGS "${CUDA_DISABLE_MSVC_WARNINGS}")
 
             string(APPEND CUDA_FLAGS " -Xcompiler /W4,/WX,${CUDA_DISABLE_MSVC_WARNINGS}")

diff --git a/cpp/open3d/CMakeLists.txt b/cpp/open3d/CMakeLists.txt
@@ -89,6 +89,7 @@ target_sources(Open3D PRIVATE
 open3d_ispc_target_sources_TARGET_OBJECTS(Open3D PRIVATE
     camera
     core
+    core_impl
     data
     geometry
     tgeometry
@@ -101,6 +102,7 @@ open3d_ispc_target_sources_TARGET_OBJECTS(Open3D PRIVATE
     tpipelines_kernel
     utility
     visualization
+    visualization_impl
 )
 
 if (BUILD_GUI)

diff --git a/cpp/open3d/core/CMakeLists.txt b/cpp/open3d/core/CMakeLists.txt
@@ -41,22 +41,7 @@ target_sources(core PRIVATE
     hashmap/HashBackendBuffer.cpp
     hashmap/HashMap.cpp
     hashmap/HashSet.cpp
-    kernel/Arange.cpp
-    kernel/ArangeCPU.cpp
-    kernel/BinaryEW.cpp
-    kernel/BinaryEWCPU.cpp
-    kernel/IndexGetSet.cpp
-    kernel/IndexGetSetCPU.cpp
-    kernel/IndexReduction.cpp
-    kernel/IndexReductionCPU.cpp
     kernel/Kernel.cpp
-    kernel/NonZero.cpp
-    kernel/NonZeroCPU.cpp
-    kernel/Reduction.cpp
-    kernel/ReductionCPU.cpp
-    kernel/UnaryEW.cpp
-    kernel/UnaryEWCPU.cpp
-    kernel/UnaryEWSYCL.cpp
     linalg/AddMM.cpp
     linalg/AddMMCPU.cpp
     linalg/Det.cpp
@@ -82,11 +67,33 @@ target_sources(core PRIVATE
     nns/NNSIndex.cpp
 )
 
+# core_impl contains the implementation of core functions that are not exposed in the public API
+open3d_ispc_add_library(core_impl OBJECT)
+set_target_properties(core_impl PROPERTIES CXX_VISIBILITY_PRESET "hidden")
+
+target_sources(core_impl PRIVATE
+    kernel/Arange.cpp
+    kernel/ArangeCPU.cpp
+    kernel/BinaryEW.cpp
+    kernel/BinaryEWCPU.cpp
+    kernel/IndexGetSet.cpp
+    kernel/IndexGetSetCPU.cpp
+    kernel/IndexReduction.cpp
+    kernel/IndexReductionCPU.cpp
+    kernel/NonZero.cpp
+    kernel/NonZeroCPU.cpp
+    kernel/Reduction.cpp
+    kernel/ReductionCPU.cpp
+    kernel/UnaryEW.cpp
+    kernel/UnaryEWCPU.cpp
+    kernel/UnaryEWSYCL.cpp
+)
+
 if (BUILD_CUDA_MODULE)
     target_sources(core PRIVATE
         MemoryManagerCUDA.cpp
     )
-    target_sources(core PRIVATE
+    target_sources(core_impl PRIVATE
         hashmap/CUDA/CreateCUDAHashBackend.cu
         hashmap/CUDA/CUDAHashBackendBuffer.cu
         hashmap/CUDA/SlabNodeManager.cu
@@ -116,6 +123,8 @@ endif()
 if (BUILD_ISPC_MODULE)
     target_sources(core PRIVATE
         Indexer.ispc
+    )
+    target_sources(core_impl PRIVATE
         kernel/BinaryEWCPU.ispc
         kernel/UnaryEWCPU.ispc
     )
@@ -126,6 +135,12 @@ open3d_set_global_properties(core)
 open3d_set_open3d_lib_properties(core)
 open3d_link_3rdparty_libraries(core)
 
+open3d_show_and_abort_on_warning(core_impl)
+open3d_set_global_properties(core_impl)
+open3d_set_open3d_lib_properties(core_impl)
+open3d_link_3rdparty_libraries(core_impl)
+
 if(BUILD_CUDA_MODULE)
     target_include_directories(core SYSTEM PRIVATE ${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES})
+    target_include_directories(core_impl SYSTEM PRIVATE ${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES})
 endif()
diff --git a/cpp/open3d/core/SYCLContext.cpp b/cpp/open3d/core/SYCLContext.cpp
@@ -54,22 +54,22 @@ SYCLContext::SYCLContext() {
     } catch (const sycl::exception &e) {
     }
 
-    if (devices_.size() == 0) {
-        // SYCL CPU fallback.
-        // This could happen if the Intel GPGPU driver is not installed or if
-        // your CPU does not have integrated GPU.
-        try {
-            const sycl::device &sycl_device =
-                    sycl::device(sycl::cpu_selector_v);
-            const Device open3d_device = Device("SYCL:0");
+    // SYCL CPU fallback.
+    // This could happen if the Intel GPGPU driver is not installed or if
+    // your CPU does not have integrated GPU.
+    try {
+        if (devices_.size() == 0) {
             utility::LogWarning(
                     "SYCL GPU device is not available, falling back to SYCL "
                     "host device.");
-            devices_.push_back(open3d_device);
-            device_to_sycl_device_[open3d_device] = sycl_device;
-            device_to_default_queue_[open3d_device] = sycl::queue(sycl_device);
-        } catch (const sycl::exception &e) {
         }
+        const sycl::device &sycl_device = sycl::device(sycl::cpu_selector_v);
+        const Device open3d_device =
+                Device("SYCL:" + std::to_string(devices_.size()));
+        devices_.push_back(open3d_device);
+        device_to_sycl_device_[open3d_device] = sycl_device;
+        device_to_default_queue_[open3d_device] = sycl::queue(sycl_device);
+    } catch (const sycl::exception &e) {
     }
 
     if (devices_.size() == 0) {

diff --git a/cpp/open3d/core/SYCLUtils.cpp b/cpp/open3d/core/SYCLUtils.cpp
@@ -118,14 +118,32 @@ static std::string SYCLDeviceToString(const sycl::device &device) {
 
 void PrintSYCLDevices(bool print_all) {
 #ifdef BUILD_SYCL_MODULE
-    const char *filter = std::getenv("SYCL_DEVICE_FILTER");
+    const char *filter = std::getenv("ONEAPI_DEVICE_SELECTOR");
     if (filter) {
         utility::LogWarning(
-                "SYCL_DEVICE_FILTER environment variable is set to {}. To see "
-                "the correct device id, please unset SYCL_DEVICE_FILTER.",
+                "ONEAPI_DEVICE_SELECTOR environment variable is set to {}. To "
+                "see the correct device id, please unset "
+                "ONEAPI_DEVICE_SELECTOR.",
                 filter);
     }
 
+    int nd = 0;
+    utility::LogInfo("# Open3D SYCL device");
+    try {
+        utility::LogInfo(
+                "- Device(\"SYCL:{}\"): {}", nd,
+                SYCLDeviceToString(sycl::device(sycl::gpu_selector_v)));
+        ++nd;
+    } catch (const sycl::exception &e) {
+    }
+    try {
+        utility::LogInfo("# Open3D SYCL device (CPU fallback)");
+        utility::LogInfo(
+                "- Device(\"SYCL:{}\"): {}", nd,
+                SYCLDeviceToString(sycl::device(sycl::cpu_selector_v)));
+    } catch (const sycl::exception &e) {
+        if (nd == 0) utility::LogInfo("- Device(\"SYCL:0\"): N/A");
+    }
     if (print_all) {
         utility::LogInfo("# All SYCL devices");
         const std::vector<sycl::platform> &platforms =
@@ -168,24 +186,6 @@ void PrintSYCLDevices(bool print_all) {
         } catch (const sycl::exception &e) {
             utility::LogInfo("- sycl::accelerator_selector_v: N/A");
         }
-
-        utility::LogInfo("# Open3D SYCL device");
-        try {
-            const sycl::device &device = sycl::device(sycl::gpu_selector_v);
-            utility::LogInfo("- Device(\"SYCL:0\"): {}",
-                             SYCLDeviceToString(device));
-        } catch (const sycl::exception &e) {
-            utility::LogInfo("- Device(\"SYCL:0\"): N/A");
-        }
-    } else {
-        utility::LogInfo("# Open3D SYCL device");
-        try {
-            const sycl::device &device = sycl::device(sycl::gpu_selector_v);
-            utility::LogInfo("- Device(\"SYCL:0\"): {}",
-                             SYCLDeviceToString(device));
-        } catch (const sycl::exception &e) {
-            utility::LogInfo("- Device(\"SYCL:0\"): N/A");
-        }
     }
 
 #else
@@ -225,10 +225,11 @@ void enablePersistentJITCache() {
 #else
     setenv("SYCL_CACHE_PERSISTENT", "1", 1);
 #endif
-#endif
+#else
     utility::LogInfo(
             "enablePersistentJITCache is not compiled with "
             "BUILD_SYCL_MODULE=ON.");
+#endif
 }
 
 }  // namespace sy