Support for Python Optional Dependencies

Split out visualization and ml modules as optional dependencies

.github/workflows/windows.yml

@@ -276,6 +276,7 @@ jobs:
         run: |
           $ErrorActionPreference = 'Stop'
           python -m pip install -r python/requirements.txt
+          python -m pip install -r python/requirements_gui.txt
           python -m pip install -r python/requirements_jupyter_build.txt
 
       - name: Config
@@ -399,7 +400,7 @@ jobs:
             $PIP_PKG_NAME=(Get-ChildItem open3d*-$py_tag-*.whl).Name
           }
           echo "Installing Open3D wheel $PIP_PKG_NAME in virtual environment..."
-          python -m pip install "$PIP_PKG_NAME"
+          python -m pip install "$PIP_PKG_NAME[gui,ml]"
           python -c "import open3d; print('Imported:', open3d)"
           python -c "import open3d; print('CUDA enabled: ', open3d.core.cuda.is_available())"
 

3rdparty/README_SYCL.md

@@ -98,7 +98,7 @@ Open3D is designed to make use of the SYCL GPU devices.
 
 ## List of oneAPI Python packages
 
-To make `pip install open3d` works out-of-the box on SYCL-enabled platforms,
+To make `pip install open3d[gui,ml]` works out-of-the box on SYCL-enabled platforms,
 we can utilize runtime libraries released via PyPI. This feature needs to be
 implemented.
 

CHANGELOG.md

@@ -12,6 +12,7 @@
 * Fix raycasting scene: Allow setting of number of threads that are used for building a raycasting scene
 * Fix Python bindings for CUDA device synchronization, voxel grid saving (PR #5425)
 * Support msgpack versions without cmake
+* Introduce new optional dependencies support, allowing you to do `pip install open3d` with any of `gui`, `ml`, `tf`, `torch`, `all` such as `pip install open3d[gui,ml]`
 
 ## 0.13
 

README.md

@@ -49,8 +49,8 @@ Pre-built pip packages support Ubuntu 18.04+, macOS 10.15+ and Windows 10+
 
 ```bash
 # Install
-pip install open3d       # or
-pip install open3d-cpu   # Smaller CPU only wheel on x86_64 Linux (v0.17+)
+pip install open3d[gui,ml]       # or
+pip install open3d-cpu[gui,ml]   # Smaller CPU only wheel on x86_64 Linux (v0.17+)
 
 # Verify installation
 python -c "import open3d as o3d; print(o3d.__version__)"

cpp/pybind/make_install_pip_package.cmake

@@ -5,4 +5,4 @@
 #       it is guaranteed that there is only one wheel in ${PYTHON_PACKAGE_DST_DIR}/pip_package/*.whl
 file(GLOB WHEEL_FILE "${PYTHON_PACKAGE_DST_DIR}/pip_package/*.whl")
 execute_process(COMMAND ${Python3_EXECUTABLE} -m pip uninstall open3d --yes)
-execute_process(COMMAND ${Python3_EXECUTABLE} -m pip install ${WHEEL_FILE} -U)
+execute_process(COMMAND ${Python3_EXECUTABLE} -m pip install "${WHEEL_FILE}[gui,ml]" -U)

cpp/pybind/make_python_package.cmake

@@ -113,6 +113,7 @@ if (BUILD_JUPYTER_EXTENSION)
     # These will be installed when `pip install open3d`.
     execute_process(COMMAND ${CMAKE_COMMAND} -E cat
         ${PYTHON_PACKAGE_SRC_DIR}/requirements.txt
+        ${PYTHON_PACKAGE_SRC_DIR}/requirements_gui.txt
         ${PYTHON_PACKAGE_SRC_DIR}/requirements_jupyter_install.txt
         OUTPUT_VARIABLE ALL_REQUIREMENTS
     )

docker/Dockerfile.openblas

@@ -72,6 +72,7 @@ COPY ./python/requirements*.txt /root/Open3D/python/
 RUN which python \
  && python --version \
  && python -m pip install -U -r /root/Open3D/python/requirements.txt \
+  -r /root/Open3D/python/requirements_gui.txt \
   -r /root/Open3D/python/requirements_build.txt \
   -r /root/Open3D/python/requirements_test.txt
 

docs/arm.rst

@@ -9,7 +9,7 @@ we provide pre-compiled ARM64 wheels for Linux and macOS. Install the wheel by:
 
 .. code-block:: bash
 
-    pip install open3d
+    pip install open3d[gui,ml]
     python -c "import open3d; print(open3d.__version__)"
 
     # Test the legacy visualizer
@@ -18,21 +18,21 @@ we provide pre-compiled ARM64 wheels for Linux and macOS. Install the wheel by:
     # Test the new GUI visualizer
     python -c "import open3d as o3d; c = o3d.geometry.TriangleMesh.create_box(); o3d.visualization.draw(c)"
 
-+------------------------+----------------+---------------------+------------+----------------+
-|                        | Linux (OpenGL) | Linux (OpenGL ES)   | macOS      | Windows on ARM |
-+========================+================+=====================+============+================+
-| ``pip install open3d`` | Yes            | Yes                 | Yes        | No             |
-+------------------------+----------------+---------------------+------------+----------------+
-| Compile from source    | Yes            | Yes                 | Yes        | No             |
-+------------------------+----------------+---------------------+------------+----------------+
-| Visualizer and GUI     | Yes            | No                  | Yes        | No             |
-+------------------------+----------------+---------------------+------------+----------------+
-| Non-GUI features       | Yes            | Yes                 | Yes        | No             |
-+------------------------+----------------+---------------------+------------+----------------+
-| Special build flags    | Not needed     | ``-DBUILD_GUI=OFF`` | Not needed | N/A            |
-+------------------------+----------------+---------------------+------------+----------------+
-| Example device         | Nvidia Jetson  | Raspberry Pi 4      | M1 MacBook | Surface Pro X  |
-+------------------------+----------------+---------------------+------------+----------------+
++--------------------------------+----------------+---------------------+------------+----------------+
+|                                | Linux (OpenGL) | Linux (OpenGL ES)   | macOS      | Windows on ARM |
++================================+================+=====================+============+================+
+| ``pip install open3d[gui,ml]`` | Yes            | Yes                 | Yes        | No             |
++--------------------------------+----------------+---------------------+------------+----------------+
+| Compile from source            | Yes            | Yes                 | Yes        | No             |
++--------------------------------+----------------+---------------------+------------+----------------+
+| Visualizer and GUI             | Yes            | No                  | Yes        | No             |
++--------------------------------+----------------+---------------------+------------+----------------+
+| Non-GUI features               | Yes            | Yes                 | Yes        | No             |
++--------------------------------+----------------+---------------------+------------+----------------+
+| Special build flags            | Not needed     | ``-DBUILD_GUI=OFF`` | Not needed | N/A            |
++--------------------------------+----------------+---------------------+------------+----------------+
+| Example device                 | Nvidia Jetson  | Raspberry Pi 4      | M1 MacBook | Surface Pro X  |
++--------------------------------+----------------+---------------------+------------+----------------+
 
 Additional notes:
 
@@ -107,7 +107,7 @@ TBB, Parallel STL, BLAS, LAPACK) may cause compatibility issues if they are not
 the same version as the one used by Open3D.
 
 If you only need the Python wheel, consider using the Docker build method or
-install Open3D via ``pip install open3d`` directly.
+install Open3D via ``pip install open3d[gui,ml]`` directly.
 
 Install dependencies
 ````````````````````

docs/docker.in.rst

@@ -41,7 +41,7 @@ Python applications looks like this:
 
     # Install Open3D from the PyPI repositories
     RUN python3 -m pip install --no-cache-dir --upgrade pip && \
-        python3 -m pip install --no-cache-dir --upgrade open3d
+        python3 -m pip install --no-cache-dir --upgrade open3d[gui,ml]
 
 If you have an NVIDIA GPU and want to use it for computation (``CUDA``) or
 visualization, follow these `directions.

docs/getting_started.in.rst

@@ -35,9 +35,13 @@ Pip (PyPI)
 
 .. code-block:: bash
 
-    pip install open3d        # or
-    pip install open3d-cpu    # Smaller CPU only wheel on x86_64 Linux (since v0.17+)
+    pip install open3d[gui,ml]        # or
+    pip install open3d-cpu[gui,ml]    # Smaller CPU only wheel on x86_64 Linux (since v0.17+)
 
+.. note::
+   Above will work for most purposes and aligns with behavior seen in `v0.17` and below.
+   Using anything under :mod:`open3d.visualization` will require ``[gui]`` where as
+   using anything under :mod:`open3d.ml` will require ``[ml]``.
 
 .. note::
    Please upgrade your ``pip`` to a version >=20.3 to install Open3D in Linux,
@@ -54,11 +58,11 @@ Pip (PyPI)
 
     .. code-block:: bash
 
-        pip3 install open3d
+        pip3 install open3d[gui,ml]
         # or
-        pip install --user open3d
+        pip install --user open3d[gui,ml]
         # or
-        python3 -m pip install --user open3d
+        python3 -m pip install --user open3d[gui,ml]
 
 Development version (pip)
 -------------------------

docs/tutorial/sensor/realsense.rst

@@ -18,7 +18,7 @@ Install Open3D from PyPI (a virtual environment is recommended):
 
 .. code-block:: sh
 
-    pip install open3d
+    pip install open3d[gui,ml]
 
 Compile from source (C++)
 ^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -251,8 +251,8 @@ during capture and performing it while reading the bad file instead.
 
 This is a complete C++ example that shows visualizing live capture and recording
 to a bag file. The recording can be paused / resumed with [SPACE]. Use [ESC] to
-stop capture and quit. You can download the 
-`rs_default_config.json <https://github.com/isl-org/open3d_downloads/releases/download/20220301-data/rs_default_config.json>`_ 
+stop capture and quit. You can download the
+`rs_default_config.json <https://github.com/isl-org/open3d_downloads/releases/download/20220301-data/rs_default_config.json>`_
 and use this example to capture your own dataset::
 
         make RealSenseRecorder

python/open3d/__init__.py

@@ -110,7 +110,14 @@ def _insert_pybind_names(skip_names=()):
     sys.modules.update(submodules)
 
 
-import open3d.visualization
+try:
+    import open3d.visualization
+except ModuleNotFoundError:
+    warnings.warn(
+        "Open3D Python GUI Libraries not found. "
+        "Please make sure to install open3d[gui] if you wish to use "
+        "the open3d.visualization module.", RuntimeWarning)
+
 _insert_pybind_names(skip_names=("ml",))
 
 __version__ = "@PROJECT_VERSION@"
@@ -143,10 +150,16 @@ def _insert_pybind_names(skip_names=()):
 if "OPEN3D_ML_ROOT" in os.environ:
     print("Using external Open3D-ML in {}".format(os.environ["OPEN3D_ML_ROOT"]))
     sys.path.append(os.environ["OPEN3D_ML_ROOT"])
-import open3d.ml
 
-# Finally insert pybind names corresponding to ml
-_insert_pybind_names()
+try:
+    import open3d.ml
+    # Finally insert pybind names corresponding to ml
+    _insert_pybind_names()
+except ModuleNotFoundError:
+    warnings.warn(
+        "Open3D Python ML Libraries not found. "
+        "Please make sure to install open3d[ml] if you wish to use "
+        "the open3d.ml module.", RuntimeWarning)
 
 
 def _jupyter_labextension_paths():

python/requirements.txt

@@ -1,5 +1,3 @@
 numpy>=1.18.0
-dash>=2.6.0
-werkzeug>=2.2.3
 nbformat==5.7.0
 configargparse

python/requirements_gui.txt

@@ -0,0 +1,2 @@
+dash>=2.6.0
+werkzeug>=2.2.3

python/setup.py

@@ -9,6 +9,7 @@
 import sys
 import platform
 import ctypes
+from collections import defaultdict
 from setuptools import setup, find_packages
 from setuptools.command.install import install as _install
 from wheel.bdist_wheel import bdist_wheel as _bdist_wheel
@@ -93,10 +94,44 @@ def finalize_options(self):
 with open("requirements.txt", "r") as f:
     install_requires = [line.strip() for line in f.readlines() if line]
 
-# Read requirements for ML.
+# Read extra requirements for GUI/ML/TF/Torch.
+extra_requires = defaultdict(list)
+
+# GUI Deps
+with open("requirements_gui.txt", "r") as f:
+    extra_requires["gui"] += [line.strip() for line in f.readlines() if line]
+
+# Make sure GUI deps is part of "all"
+extra_requires["all"] += extra_requires["gui"]
+
 if "@BUNDLE_OPEN3D_ML@" == "ON":
+    # ML Deps
     with open("@OPEN3D_ML_ROOT@/requirements.txt", "r") as f:
-        install_requires += [line.strip() for line in f.readlines() if line]
+        extra_requires["ml"] += [line.strip() for line in f.readlines() if line]
+        extra_requires["all"] += extra_requires["ml"]
+
+    # ML + TF Deps
+    with open("@OPEN3D_ML_ROOT@/requirements-tensorflow.txt", "r") as f:
+        extra_requires["tf"] += extra_requires["ml"]
+        extra_requires["tf"] += [line.strip() for line in f.readlines() if line]
+        extra_requires["all"] += extra_requires["tf"]
+
+    # ML + Torch Deps
+    if "@BUILD_CUDA_MODULE@" == "ON":
+        torch_reqs = "@OPEN3D_ML_ROOT@/requirements-torch-cuda.txt"
+    else:
+        torch_reqs = "@OPEN3D_ML_ROOT@/requirements-torch.txt"
+    with open(torch_reqs, "r") as f:
+        extra_requires["torch"] += extra_requires["ml"]
+        extra_requires["torch"] += [
+            line.strip()
+            for line in f.readlines()
+            if line and not line.startswith("-")
+        ]
+        extra_requires["all"] += extra_requires["torch"]
+
+# Dedupe Extras w/ All
+extra_requires["all"] = list(set(extra_requires["all"]))
 
 entry_points = {
     "console_scripts": ["open3d = @[email protected]:main",]
@@ -160,6 +195,7 @@ def finalize_options(self):
     python_requires=">=3.6",
     include_package_data=True,
     install_requires=install_requires,
+    extras_require=extra_requires,
     packages=find_packages(),
     entry_points=entry_points,
     zip_safe=False,

util/ci_utils.sh

@@ -83,6 +83,7 @@ install_python_dependencies() {
 
     # TODO: modify other locations to use requirements.txt
     python -m pip install -r "${OPEN3D_SOURCE_ROOT}/python/requirements.txt"
+    python -m pip install -r "${OPEN3D_SOURCE_ROOT}/python/requirements_gui.txt"
     if [[ "with-jupyter" =~ ^($options)$ ]]; then
         python -m pip install -r "${OPEN3D_SOURCE_ROOT}/python/requirements_jupyter_build.txt"
     fi
@@ -262,7 +263,7 @@ test_wheel() {
     echo -n "Using pip: "
     python -m pip --version
     echo "Installing Open3D wheel $wheel_path in virtual environment..."
-    python -m pip install "$wheel_path"
+    python -m pip install "${wheel_path}[gui,ml]"
     python -c "import open3d; print('Installed:', open3d); print('BUILD_CUDA_MODULE: ', open3d._build_config['BUILD_CUDA_MODULE'])"
     python -c "import open3d; print('CUDA available: ', open3d.core.cuda.is_available())"
     echo
@@ -392,6 +393,7 @@ install_docs_dependencies() {
     fi
     echo
     python -m pip install -r "${OPEN3D_SOURCE_ROOT}/python/requirements.txt"
+    python -m pip install -r "${OPEN3D_SOURCE_ROOT}/python/requirements_gui.txt"
     python -m pip install -r "${OPEN3D_SOURCE_ROOT}/python/requirements_jupyter_build.txt"
     python -m pip install -r "${OPEN3D_SOURCE_ROOT}/docs/requirements.txt"
 }