Merge master. Style fixes

isl-org · Oct 13, 2023 · 405698f · 405698f
2 parents 6e156c1 + a1ae217
commit 405698f
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diff --git a/.github/workflows/ubuntu-wheel.yml b/.github/workflows/ubuntu-wheel.yml
@@ -109,7 +109,7 @@ jobs:
 
   test-wheel-cpu:
     name: Test wheel CPU
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
     needs: [build-wheel]
     strategy:
       fail-fast: false

diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
@@ -79,6 +79,13 @@ jobs:
           name: open3d-devel-linux-x86_64
           path: open3d-devel-*.tar.xz
           if-no-files-found: error
+      - name: Upload viewer to GitHub artifacts
+        if: ${{ env.BUILD_SHARED_LIBS == 'OFF' }}
+        uses: actions/upload-artifact@v3
+        with:
+          name: open3d-viewer-Linux
+          path: open3d-viewer-*-Linux.deb
+          if-no-files-found: error
       - name: GCloud CLI auth
         if: ${{ github.ref == 'refs/heads/master' }}
         uses: 'google-github-actions/auth@v1'

diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
@@ -420,7 +420,9 @@ jobs:
     # no need to run on Windows
     runs-on: ubuntu-latest
     if: ${{ github.ref == 'refs/heads/master' }}
-    needs: [build-wheel, windows]
+    # temp workaround for Windows CUDA Debug CI out of space. Still update docs.
+    # needs: [build-wheel, windows]
+    needs: [build-wheel]
     steps:
       - name: GCloud CLI auth
         uses: google-github-actions/auth@v1

diff --git a/3rdparty/cmake/FindTBB.cmake b/3rdparty/cmake/FindTBB.cmake
@@ -0,0 +1,21 @@
+# Try to use pre-installed config
+find_package(TBB CONFIG)
+if(TARGET TBB::tbb)
+    set(TBB_FOUND TRUE)
+else()
+    message(STATUS "Target TBB::tbb not defined, falling back to manual detection")
+    find_path(TBB_INCLUDE_DIR tbb/tbb.h)
+    find_library(TBB_LIBRARY tbb)
+    if(TBB_INCLUDE_DIR AND TBB_LIBRARY)
+        message(STATUS "TBB found: ${TBB_LIBRARY}")
+        add_library(TBB::tbb UNKNOWN IMPORTED)
+        set_target_properties(TBB::tbb PROPERTIES
+            INTERFACE_INCLUDE_DIRECTORIES "${TBB_INCLUDE_DIR}"
+            IMPORTED_LOCATION "${TBB_LIBRARY}"
+        )
+        set(TBB_FOUND TRUE)
+    else()
+        set(TBB_FOUND FALSE)
+    endif()
+endif()
+
diff --git a/3rdparty/find_dependencies.cmake b/3rdparty/find_dependencies.cmake
@@ -269,7 +269,7 @@ endfunction()
 #        If <pkg> also defines targets, use them instead and pass them via TARGETS option.
 #
 function(open3d_find_package_3rdparty_library name)
-    cmake_parse_arguments(arg "PUBLIC;HEADER;REQUIRED;QUIET" "PACKAGE;PACKAGE_VERSION_VAR" "TARGETS;INCLUDE_DIRS;LIBRARIES" ${ARGN})
+    cmake_parse_arguments(arg "PUBLIC;HEADER;REQUIRED;QUIET" "PACKAGE;VERSION;PACKAGE_VERSION_VAR" "TARGETS;INCLUDE_DIRS;LIBRARIES" ${ARGN})
     if(arg_UNPARSED_ARGUMENTS)
         message(STATUS "Unparsed: ${arg_UNPARSED_ARGUMENTS}")
         message(FATAL_ERROR "Invalid syntax: open3d_find_package_3rdparty_library(${name} ${ARGN})")
@@ -281,6 +281,9 @@ function(open3d_find_package_3rdparty_library name)
         set(arg_PACKAGE_VERSION_VAR "${arg_PACKAGE}_VERSION")
     endif()
     set(find_package_args "")
+    if(arg_VERSION)
+        list(APPEND find_package_args "${arg_VERSION}")
+    endif()
     if(arg_REQUIRED)
         list(APPEND find_package_args "REQUIRED")
     endif()
@@ -539,11 +542,26 @@ endif()
 
 # cutlass
 if(BUILD_CUDA_MODULE)
-    include(${Open3D_3RDPARTY_DIR}/cutlass/cutlass.cmake)
-    open3d_import_3rdparty_library(3rdparty_cutlass
-        INCLUDE_DIRS ${CUTLASS_INCLUDE_DIRS}
-        DEPENDS      ext_cutlass
-    )
+    if(USE_SYSTEM_CUTLASS)
+        find_path(3rdparty_cutlass_INCLUDE_DIR NAMES cutlass/cutlass.h)
+        if(3rdparty_cutlass_INCLUDE_DIR)
+            add_library(3rdparty_cutlass INTERFACE)
+            target_include_directories(3rdparty_cutlass INTERFACE ${3rdparty_cutlass_INCLUDE_DIR})
+            add_library(Open3D::3rdparty_cutlass ALIAS 3rdparty_cutlass)
+            if(NOT BUILD_SHARED_LIBS)
+                install(TARGETS 3rdparty_cutlass EXPORT ${PROJECT_NAME}Targets)
+            endif()
+        else()
+            set(USE_SYSTEM_CUTLASS OFF)
+        endif()
+    endif()
+    if(NOT USE_SYSTEM_CUTLASS)
+        include(${Open3D_3RDPARTY_DIR}/cutlass/cutlass.cmake)
+        open3d_import_3rdparty_library(3rdparty_cutlass
+            INCLUDE_DIRS ${CUTLASS_INCLUDE_DIRS}
+            DEPENDS      ext_cutlass
+        )
+    endif()
     list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_CUSTOM Open3D::3rdparty_cutlass)
 endif()
 
@@ -581,6 +599,7 @@ endif()
 if(USE_SYSTEM_NANOFLANN)
     open3d_find_package_3rdparty_library(3rdparty_nanoflann
         PACKAGE nanoflann
+        VERSION 1.5.0
         TARGETS nanoflann::nanoflann
     )
     if(NOT 3rdparty_nanoflann_FOUND)
@@ -1109,6 +1128,14 @@ open3d_import_3rdparty_library(3rdparty_poisson
 )
 list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_CUSTOM Open3D::3rdparty_poisson)
 
+# Minizip
+if(WITH_MINIZIP)
+    open3d_pkg_config_3rdparty_library(3rdparty_minizip
+        SEARCH_ARGS minizip
+    )
+    list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_SYSTEM Open3D::3rdparty_minizip)
+endif()
+
 # Googletest
 if (BUILD_UNIT_TESTS)
     if(USE_SYSTEM_GOOGLETEST)
@@ -1429,9 +1456,15 @@ endif()
 # msgpack
 if(USE_SYSTEM_MSGPACK)
     open3d_find_package_3rdparty_library(3rdparty_msgpack
-        PACKAGE msgpack
-        TARGETS msgpackc
+        PACKAGE msgpack-cxx
+        TARGETS msgpack-cxx
     )
+    if(NOT 3rdparty_msgpack_FOUND)
+        open3d_find_package_3rdparty_library(3rdparty_msgpack
+            PACKAGE msgpack
+            TARGETS msgpackc
+        )
+    endif()
     if(NOT 3rdparty_msgpack_FOUND)
         open3d_pkg_config_3rdparty_library(3rdparty_msgpack
             SEARCH_ARGS msgpack
@@ -1826,25 +1859,47 @@ endif ()
 
 # Stdgpu
 if (BUILD_CUDA_MODULE)
-    include(${Open3D_3RDPARTY_DIR}/stdgpu/stdgpu.cmake)
-    open3d_import_3rdparty_library(3rdparty_stdgpu
-        INCLUDE_DIRS ${STDGPU_INCLUDE_DIRS}
-        LIB_DIR      ${STDGPU_LIB_DIR}
-        LIBRARIES    ${STDGPU_LIBRARIES}
-        DEPENDS      ext_stdgpu
-    )
+    if(USE_SYSTEM_STDGPU)
+        open3d_find_package_3rdparty_library(3rdparty_stdgpu
+            PACKAGE stdgpu
+            TARGETS stdgpu::stdgpu
+        )
+        if(NOT 3rdparty_stdgpu_FOUND)
+            set(USE_SYSTEM_STDGPU OFF)
+        endif()
+    endif()
+    if(NOT USE_SYSTEM_STDGPU)
+        include(${Open3D_3RDPARTY_DIR}/stdgpu/stdgpu.cmake)
+        open3d_import_3rdparty_library(3rdparty_stdgpu
+            INCLUDE_DIRS ${STDGPU_INCLUDE_DIRS}
+            LIB_DIR      ${STDGPU_LIB_DIR}
+            LIBRARIES    ${STDGPU_LIBRARIES}
+            DEPENDS      ext_stdgpu
+        )
+    endif()
     list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_CUSTOM Open3D::3rdparty_stdgpu)
 endif ()
 
 # embree
-include(${Open3D_3RDPARTY_DIR}/embree/embree.cmake)
-open3d_import_3rdparty_library(3rdparty_embree
-    HIDDEN
-    INCLUDE_DIRS ${EMBREE_INCLUDE_DIRS}
-    LIB_DIR      ${EMBREE_LIB_DIR}
-    LIBRARIES    ${EMBREE_LIBRARIES}
-    DEPENDS      ext_embree
-)
+if(USE_SYSTEM_EMBREE)
+    open3d_find_package_3rdparty_library(3rdparty_embree
+        PACKAGE embree
+        TARGETS embree
+    )
+    if(NOT 3rdparty_embree_FOUND)
+        set(USE_SYSTEM_EMBREE OFF)
+    endif()
+endif()
+if(NOT USE_SYSTEM_EMBREE)
+    include(${Open3D_3RDPARTY_DIR}/embree/embree.cmake)
+    open3d_import_3rdparty_library(3rdparty_embree
+        HIDDEN
+        INCLUDE_DIRS ${EMBREE_INCLUDE_DIRS}
+        LIB_DIR      ${EMBREE_LIB_DIR}
+        LIBRARIES    ${EMBREE_LIBRARIES}
+        DEPENDS      ext_embree
+    )
+endif()
 list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_CUSTOM Open3D::3rdparty_embree)
 
 # WebRTC

diff --git a/3rdparty/fmt/fmt.cmake b/3rdparty/fmt/fmt.cmake
@@ -2,9 +2,8 @@ include(ExternalProject)
 
 set(FMT_LIB_NAME fmt)
 
-if (MSVC AND MSVC_VERSION VERSION_LESS 1930 OR
-        CMAKE_CXX_COMPILER_ID MATCHES "IntelLLVM")
-    # MSVC 17.x required for building fmt >6
+if (MSVC OR CMAKE_CXX_COMPILER_ID MATCHES "IntelLLVM")
+    # MSVC has errors when building fmt >6, up till 9.1
     # SYCL / DPC++ needs fmt ver <=6 or >= 9.2: https://github.com/fmtlib/fmt/issues/3005
     set(FMT_VER "6.0.0")
     set(FMT_SHA256

diff --git a/3rdparty/nanoflann/nanoflann.cmake b/3rdparty/nanoflann/nanoflann.cmake
@@ -3,8 +3,8 @@ include(ExternalProject)
 ExternalProject_Add(
     ext_nanoflann
     PREFIX nanoflann
-    URL https://github.com/jlblancoc/nanoflann/archive/refs/tags/v1.3.2.tar.gz
-    URL_HASH SHA256=e100b5fc8d72e9426a80312d852a62c05ddefd23f17cbb22ccd8b458b11d0bea
+    URL https://github.com/jlblancoc/nanoflann/archive/refs/tags/v1.5.0.tar.gz
+    URL_HASH SHA256=89aecfef1a956ccba7e40f24561846d064f309bc547cc184af7f4426e42f8e65
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/nanoflann"
     UPDATE_COMMAND ""
     CONFIGURE_COMMAND ""

diff --git a/3rdparty/possionrecon/possionrecon.cmake b/3rdparty/possionrecon/possionrecon.cmake
@@ -3,8 +3,8 @@ include(ExternalProject)
 ExternalProject_Add(
     ext_poisson
     PREFIX poisson
-    URL https://github.com/isl-org/Open3D-PoissonRecon/archive/fd273ea8c77a36973d6565a495c9969ccfb12d3b.tar.gz
-    URL_HASH SHA256=917d98e037982d57a159fa166b259ff3dc90ffffe09c6a562a71b400f6869ddf
+    URL https://github.com/isl-org/Open3D-PoissonRecon/archive/90f3f064e275b275cff445881ecee5a7c495c9e0.tar.gz
+    URL_HASH SHA256=1310df0c80ff0616b8fcf9b2fb568aa9b2190d0e071b0ead47dba339c146b1d3
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/poisson"
     SOURCE_DIR "poisson/src/ext_poisson/PoissonRecon" # Add extra directory level for POISSON_INCLUDE_DIRS.
     UPDATE_COMMAND ""

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,9 +1,12 @@
 ## Master
 
+* Fix tensor based TSDF integration example.
+* Use GLIBCXX_USE_CXX11_ABI=ON by default
 * Python 3.9 support. Tensorflow bump 2.4.1 -> 2.5.0. PyTorch bump 1.7.1 -> 1.8.1 (LTS)
 * Fix undefined names: docstr and VisibleDeprecationWarning (PR #3844)
 * Corrected documentation for Tensor based PointClound, LineSet, TriangleMesh (PR #4685)
 * Corrected documentation for KDTree (typo in Notebook) (PR #4744)
+* Corrected documentation for visualisation tutorial
 * Remove `setuptools` and `wheel` from requirements for end users (PR #5020)
 * Fix various typos (PR #5070)
 * Exposed more functionality in SLAM and odometry pipelines
@@ -13,6 +16,8 @@
 * Fix Python bindings for CUDA device synchronization, voxel grid saving (PR #5425)
 * Support msgpack versions without cmake
 * Changed TriangleMesh to store materials in a list so they can be accessed by the material index (PR #5938)
+* Support multi-threading in the RayCastingScene function to commit scene (PR #6051).
+* Fix some bad triangle generation in TriangleMesh::SimplifyQuadricDecimation
 
 ## 0.13
 

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -65,11 +65,7 @@ else()
     option(STATIC_WINDOWS_RUNTIME "Use static (MT/MTd) Windows runtime"      ON )
 endif()
 option(BUILD_SYCL_MODULE          "Build SYCL module with Intel oneAPI"      OFF)
-if(BUILD_SYCL_MODULE)
-    option(GLIBCXX_USE_CXX11_ABI  "Set -D_GLIBCXX_USE_CXX11_ABI=1"           ON )
-else()
-    option(GLIBCXX_USE_CXX11_ABI  "Set -D_GLIBCXX_USE_CXX11_ABI=1"           OFF)
-endif()
+option(GLIBCXX_USE_CXX11_ABI      "Set -D_GLIBCXX_USE_CXX11_ABI=1"           ON )
 option(ENABLE_SYCL_UNIFIED_SHARED_MEMORY "Enable SYCL unified shared memory" OFF)
 if(BUILD_GUI AND (WIN32 OR UNIX AND NOT LINUX_AARCH64 AND NOT APPLE_AARCH64))
     option(BUILD_WEBRTC           "Build WebRTC visualizer"                  ON )
@@ -91,7 +87,9 @@ else()
 endif()
 option(USE_SYSTEM_ASSIMP          "Use system pre-installed assimp"          OFF)
 option(USE_SYSTEM_CURL            "Use system pre-installed curl"            OFF)
+option(USE_SYSTEM_CUTLASS         "Use system pre-installed cutlass"         OFF)
 option(USE_SYSTEM_EIGEN3          "Use system pre-installed eigen3"          OFF)
+option(USE_SYSTEM_EMBREE          "Use system pre-installed Embree"          OFF)
 option(USE_SYSTEM_FILAMENT        "Use system pre-installed filament"        OFF)
 option(USE_SYSTEM_FMT             "Use system pre-installed fmt"             OFF)
 option(USE_SYSTEM_GLEW            "Use system pre-installed glew"            OFF)
@@ -107,6 +105,7 @@ option(USE_SYSTEM_OPENSSL         "Use system pre-installed OpenSSL"         OFF
 option(USE_SYSTEM_PNG             "Use system pre-installed png"             OFF)
 option(USE_SYSTEM_PYBIND11        "Use system pre-installed pybind11"        OFF)
 option(USE_SYSTEM_QHULLCPP        "Use system pre-installed qhullcpp"        OFF)
+option(USE_SYSTEM_STDGPU          "Use system pre-installed stdgpu"          OFF)
 option(USE_SYSTEM_TBB             "Use system pre-installed TBB"             OFF)
 option(USE_SYSTEM_TINYGLTF        "Use system pre-installed tinygltf"        OFF)
 option(USE_SYSTEM_TINYOBJLOADER   "Use system pre-installed tinyobjloader"   OFF)
@@ -121,6 +120,7 @@ else()
 endif()
 
 option(PREFER_OSX_HOMEBREW        "Prefer Homebrew libs over frameworks"     ON )
+option(WITH_MINIZIP               "Enable MiniZIP"                           OFF)
 
 # Sensor options
 option(BUILD_LIBREALSENSE         "Build support for Intel RealSense camera" OFF)

diff --git a/README.md b/README.md
@@ -45,7 +45,7 @@ For more, please visit the [Open3D documentation](http://www.open3d.org/docs).
 ## Python quick start
 
 Pre-built pip packages support Ubuntu 18.04+, macOS 10.15+ and Windows 10+
-(64-bit) with Python 3.6-3.10.
+(64-bit) with Python 3.7-3.10.
 
 ```bash
 # Install
@@ -87,8 +87,8 @@ To use Open3D in your C++ project, checkout the following examples
 
 <img width="480" src="https://raw.githubusercontent.com/isl-org/Open3D/master/docs/_static/open3d_viewer.png">
 
-Open3D-Viewer is a standalone 3D viewer app available on Ubuntu and macOS.
-Please stay tuned for Windows. Download Open3D Viewer from the
+Open3D-Viewer is a standalone 3D viewer app available on Debian (Ubuntu), macOS
+and Windows. Download Open3D Viewer from the
 [release page](https://github.com/isl-org/Open3D/releases).
 
 ## Open3D-ML

diff --git a/cmake/Open3DPackaging.cmake b/cmake/Open3DPackaging.cmake
@@ -1,3 +1,6 @@
+# This is packaging for the Open3D library. See
+# cpp/apps/Open3DViewer/Debian/CMakeLists.txt for packaging the Debian Open3D
+# viewer
 set(CPACK_GENERATOR TXZ)
 if(WIN32)
     set(CPACK_GENERATOR ZIP)

diff --git a/cpp/apps/CMakeLists.txt b/cpp/apps/CMakeLists.txt
@@ -72,8 +72,17 @@ macro(open3d_add_app_gui SRC_DIR APP_NAME TARGET_NAME)
                     RENAME "${APP_NAME}.xml")
             # Various caches need to be updated for the app to become visible
             install(CODE "execute_process(COMMAND ${SOURCE_DIR}/postinstall-linux.sh)")
+            configure_file("${SOURCE_DIR}/Debian/CMakeLists.in.txt"
+                "${CMAKE_BINARY_DIR}/package-${TARGET_NAME}-deb/CMakeLists.txt" @ONLY)
+            add_custom_target(package-${TARGET_NAME}-deb
+                COMMAND cp -a "${CMAKE_BINARY_DIR}/${APP_NAME}" .
+                COMMAND cp "${SOURCE_DIR}/icon.svg" "${APP_NAME}/${APP_NAME}.svg"
+                COMMAND cp "${SOURCE_DIR}/${TARGET_NAME}.xml" "${APP_NAME}/"
+                COMMAND "${CMAKE_COMMAND}" -S .
+                COMMAND "${CMAKE_COMMAND}" --build . -t package
+                WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/package-${TARGET_NAME}-deb/"
+                DEPENDS ${TARGET_NAME})
         elseif (WIN32)
-            # Don't create a command window on launch
             target_sources(${TARGET_NAME} PRIVATE "${SOURCE_DIR}/icon.rc")   # add icon
 
             # MSVC puts the binary in bin/Open3D/Release/Open3D.exe

diff --git a/cpp/apps/OfflineReconstruction/LegacyReconstructionUtil.h b/cpp/apps/OfflineReconstruction/LegacyReconstructionUtil.h
@@ -1025,7 +1025,7 @@ class ReconstructionPipeline {
         Eigen::Matrix6d info;
         const size_t num_scale = voxel_size.size();
         for (size_t i = 0; i < num_scale; i++) {
-            const double max_dis = config_["voxel_szie"].asDouble() * 1.4;
+            const double max_dis = config_["voxel_size"].asDouble() * 1.4;
             const auto src_down = src.VoxelDownSample(voxel_size[i]);
             const auto dst_down = dst.VoxelDownSample(voxel_size[i]);
             const pipelines::registration::ICPConvergenceCriteria criteria(

diff --git a/cpp/apps/Open3DViewer/Debian/CMakeLists.in.txt b/cpp/apps/Open3DViewer/Debian/CMakeLists.in.txt
@@ -0,0 +1,36 @@
+# Create Debian package
+cmake_minimum_required(VERSION 3.8.0)
+project("Open3D-Debian")
+
+message(STATUS "Building package for Debian")
+
+# Install assets
+install(DIRECTORY   "Open3D"
+        DESTINATION share
+        USE_SOURCE_PERMISSIONS
+        PATTERN     "Open3D/Open3D.svg" EXCLUDE
+        PATTERN     "Open3D/Open3D.desktop" EXCLUDE
+        PATTERN     "Open3D/Open3DViewer.xml" EXCLUDE
+        PATTERN     "Open3D/Open3D" EXCLUDE
+        PATTERN     "Open3D/CMakeLists.txt" EXCLUDE
+)
+install(FILES "Open3D/Open3D.desktop" DESTINATION /usr/share/applications)
+install(FILES "Open3D/Open3DViewer.xml" DESTINATION /usr/share/mime/packages)
+install(FILES "Open3D/Open3D.svg" DESTINATION /usr/share/icons/hicolor/scalable/apps)
+install(PROGRAMS "Open3D/Open3D" DESTINATION bin)
+
+# CPACK parameter
+set(CPACK_GENERATOR "DEB")
+set(CPACK_PACKAGE_NAME "open3d-viewer")
+set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Open3D Viewer for 3D files")
+set(CPACK_PACKAGE_CONTACT "Open3D team <@PROJECT_EMAIL@>")
+set(CPACK_DEBIAN_PACKAGE_SECTION "Graphics")
+set(CPACK_PACKAGE_VERSION "@OPEN3D_VERSION@")
+set(CPACK_DEBIAN_PACKAGE_DEPENDS "libc++1, libgomp1, libpng16-16, libglfw3")
+set(CPACK_PACKAGE_HOMEPAGE_URL "@PROJECT_HOMEPAGE_URL@")
+
+# How to set cpack prefix: https://stackoverflow.com/a/7363073/1255535
+set(CPACK_SET_DESTDIR true)
+set(CPACK_INSTALL_PREFIX /usr/local)
+
+include(CPack)