Merge branch 'main' into ss/issue-5837

isl-org · Mar 18, 2024 · eac8f3a · eac8f3a
2 parents 4923447 + e8661f7
commit eac8f3a
Show file tree

Hide file tree

Showing 264 changed files with 9,045 additions and 2,970 deletions.
diff --git a/.github/ISSUE_TEMPLATE/0-build-issue-report.yml b/.github/ISSUE_TEMPLATE/0-build-issue-report.yml
@@ -11,9 +11,9 @@ body:
     options:
       - label: "I have searched for [similar issues](https://github.com/isl-org/Open3D/issues)."
         required: true
-      - label: "For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
+      - label: "For Python issues, I have tested with the [latest development wheel](https://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
         required: true
-      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch)."
+      - label: "I have checked the [release documentation](https://www.open3d.org/docs/release/) and the [latest documentation](https://www.open3d.org/docs/latest/) (for `main` branch)."
         required: true
 
 - type: textarea

diff --git a/.github/ISSUE_TEMPLATE/1-bug-report.yml b/.github/ISSUE_TEMPLATE/1-bug-report.yml
@@ -11,9 +11,9 @@ body:
     options:
       - label: "I have searched for [similar issues](https://github.com/isl-org/Open3D/issues)."
         required: true
-      - label: "For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
+      - label: "For Python issues, I have tested with the [latest development wheel](https://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
         required: true
-      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch)."
+      - label: "I have checked the [release documentation](https://www.open3d.org/docs/release/) and the [latest documentation](https://www.open3d.org/docs/latest/) (for `main` branch)."
         required: true
 
 - type: textarea

diff --git a/.github/ISSUE_TEMPLATE/2-questions.yml b/.github/ISSUE_TEMPLATE/2-questions.yml
@@ -11,9 +11,9 @@ body:
     options:
       - label: "I have searched for [similar issues](https://github.com/isl-org/Open3D/issues)."
         required: true
-      - label: "For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
+      - label: "For Python issues, I have tested with the [latest development wheel](https://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
         required: true
-      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch)."
+      - label: "I have checked the [release documentation](https://www.open3d.org/docs/release/) and the [latest documentation](https://www.open3d.org/docs/latest/) (for `main` branch)."
         required: true
 
 - type: textarea

diff --git a/.github/ISSUE_TEMPLATE/3-feature-request.yml b/.github/ISSUE_TEMPLATE/3-feature-request.yml
@@ -11,9 +11,9 @@ body:
     options:
       - label: "I have searched for [similar issues](https://github.com/isl-org/Open3D/issues)."
         required: true
-      - label: "For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
+      - label: "For Python issues, I have tested with the [latest development wheel](https://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
         required: true
-      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch)."
+      - label: "I have checked the [release documentation](https://www.open3d.org/docs/release/) and the [latest documentation](https://www.open3d.org/docs/latest/) (for `main` branch)."
         required: true
 
 - type: textarea

diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml
@@ -1,6 +1,6 @@
 contact_links:
   - name: Link to Open3D Documentation and Tutorials
-    url: http://www.open3d.org/docs/latest/
+    url: https://www.open3d.org/docs/latest/
     about: "Read the documentation and tutorials for Open3D."
   - name: Link to Open3D Discord Server
     url: https://discord.gg/D35BGvn

diff --git a/.github/workflows/README.md b/.github/workflows/README.md
@@ -14,7 +14,7 @@ actions updates. On macOS and Windows, using Ubuntu reduces CI cost.
 
 -   `.github/workflows/documentation.yml`: Github Actions workflow file to
     create and deploy documentation. Documentation is created for every branch
-    as a CI test, but deployed only for `master`.
+    as a CI test, but deployed only for `main`.
 -   `util/ci_utils.sh:build_docs()`: Called by GitHub Actions to build documentation.
 -   `unpack_docs.sh`: Called by the documentation server to deploy the docs into
     the website.
@@ -43,9 +43,9 @@ actions updates. On macOS and Windows, using Ubuntu reduces CI cost.
     gsutil lifecycle set gcs.lifecycle.json gs://open3d-docs/
     ```
 
-    Objects will be stored in the bucket for one week. Currently, the
-    documentation server fetches the latest docs from `master` branch every hour.
-    If the documentation server fails to fetch the docs matching the `master`
+    Objects will be stored in the bucket for 30 days. Currently, the
+    documentation server fetches the latest docs from `main` branch every hour.
+    If the documentation server fails to fetch the docs matching the `main`
     commit id, the last successfully fetched docs will be displayed.
 3.  Create service account
     ```bash
@@ -163,14 +163,14 @@ used for running CI.
 -   ARM64 cache (limit 1.5GB) is stored on Google cloud bucket
     (`open3d-ci-cache` in the `isl-buckets` project). The bucket is world
     readable, but needs the `open3d-ci-sa` service account for writing. Every
-    ARM64 build downloads the cache contents before build. Only `master` branch
+    ARM64 build downloads the cache contents before build. Only `main` branch
     builds use `gsutil rsync` to update the cache in GCS. Cache transfer only
     takes a few minutes, but reduces ARM64 CI time to about 1:15 hours.
 
 ## Development wheels and binary archives for user testing
 
-`master` branch Python wheels and binary archives are uploaded to a world
-readable GCS bucket in `open3d-releases-master/{python-wheels,devel}` for users
+`main` branch Python wheels and binary archives are uploaded to a world
+readable GCS bucket in `open3d-releases/{python-wheels,devel}` for users
 to try out development wheels.
 
 ### Google Cloud storage
@@ -185,10 +185,10 @@ bucket with:
 -   One month (30 days) object lifecycle
 
 ```bash
-gsutil mb -p open3d-dev -c STANDARD -l US -b on gs://open3d-releases-master
-gsutil acl ch -u AllUsers:R gs://open3d-releases-master
-gsutil lifecycle set gcs.lifecycle.json gs:/open3d-releases-master
+gsutil mb -p open3d-dev -c STANDARD -l US -b on gs://open3d-releases
+gsutil acl ch -u AllUsers:R gs://open3d-releases
+gsutil lifecycle set gcs.lifecycle.json gs:/open3d-releases
 gsutil iam ch \
     serviceAccount:[email protected]:objectAdmin \
-    gs://open3d-releases-master
+    gs://open3d-releases
 ```
diff --git a/.github/workflows/clean-gcloud-profiles.yml b/.github/workflows/clean-gcloud-profiles.yml
@@ -21,7 +21,7 @@ on:
   workflow_dispatch:
   # push:
   #   branches:
-  #     - master
+  #     - main
   # pull_request:
   #   types: [opened, reopened, synchronize]
 

diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml
@@ -9,7 +9,7 @@ on:
         default: 'ON'
   push:
     branches:
-      - master
+      - main
   pull_request:
     types: [opened, reopened, synchronize]
 
@@ -58,16 +58,16 @@ jobs:
       - name: Set up Python version
         uses: actions/setup-python@v4
         with:
-          python-version: '3.7'
+          python-version: '3.8'
 
       - name: Install dependencies
         env:
           DEBIAN_FRONTEND: noninteractive
         run: |
-          # the build system of the main repo expects a master branch. make sure
-          # master exists
+          # the build system of the main repo expects a main branch. make sure
+          # main exists
           pushd "${OPEN3D_ML_ROOT}"
-          git checkout -b master || true
+          git checkout -b main || true
           popd
           source util/ci_utils.sh
           install_docs_dependencies "${OPEN3D_ML_ROOT}"
@@ -88,22 +88,22 @@ jobs:
           if-no-files-found: error
 
       - name: GCloud CLI auth
-        if: ${{ github.ref == 'refs/heads/master' }}
+        if: ${{ github.ref == 'refs/heads/main' }}
         uses: 'google-github-actions/auth@v1'
         with:
           project_id: ${{ secrets.GCE_PROJECT }}
           credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
       - name: GCloud CLI setup
-        if: ${{ github.ref == 'refs/heads/master' }}
+        if: ${{ github.ref == 'refs/heads/main' }}
         uses: google-github-actions/setup-gcloud@v1
         with:
           version: ${{ env.GCE_CLI_GHA_VERSION }}
           project_id: ${{ secrets.GCE_PROJECT }}
 
       - name: Deploy docs
-        if: ${{ github.ref == 'refs/heads/master' }}
+        if: ${{ github.ref == 'refs/heads/main' }}
         run: |
-          # Compress and upload the docs, only for master branch
+          # Compress and upload the docs, only for main branch
           docs_out_dir="docs/_out" # Docs in ${docs_out_dir}/html
           tar_file="${{ github.sha }}_ready.tar.gz"
           rm -rf ${tar_file}
@@ -113,7 +113,7 @@ jobs:
           echo "https://storage.googleapis.com/open3d-docs/${tar_file}"
 
       - name: Check wheels and ready documentation archive
-        if: ${{ github.ref == 'refs/heads/master' }}
+        if: ${{ github.ref == 'refs/heads/main' }}
         run: |
             if [ $(gsutil ls gs://open3d-docs/${{ github.sha }}_ready* | wc -l)\
                 -eq 4 ]; then
@@ -123,6 +123,10 @@ jobs:
                 # Rename docs archive:
                 gsutil mv gs://open3d-docs/${{ github.sha }}_ready.tar.gz \
                     gs://open3d-docs/${{ github.sha }}.tar.gz
+                # Set holds on new artifacts, release on old
+                gsutil retention temp release gs://open3d-releases/*
+                gsutil retention temp set gs://open3d-releases/python-wheels/*${GITHUB_SHA:0:7}*.whl
+                gsutil retention temp set gs://open3d-releases/devel/*${GITHUB_SHA:0:7}*
             else
                 echo "All wheels / docs not available yet."
             fi
diff --git a/.github/workflows/gcs.lifecycle.json b/.github/workflows/gcs.lifecycle.json
@@ -5,7 +5,11 @@
         "type": "Delete"
       },
       "condition": {
-        "age": 7
+        "age": 30,
+        "matchesPrefix": [
+          "devel/",
+          "python-wheels/"
+        ]
       }
     }
   ]

diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
@@ -10,7 +10,7 @@ on:
 
   push:
     branches:
-      - master
+      - main
   pull_request:
     types: [opened, reopened, synchronize]  # Rebuild on new pushes to PR
 
@@ -56,7 +56,7 @@ jobs:
       - name: Set up Python version
         uses: actions/setup-python@v4
         with:
-          python-version: 3.7
+          python-version: 3.8
       - name: Install dependencies
         run: |
           brew install ccache pkg-config
@@ -94,23 +94,23 @@ jobs:
           if-no-files-found: error
 
       - name: GCloud CLI auth
-        if: ${{ github.ref == 'refs/heads/master' && env.BUILD_SHARED_LIBS == 'ON' }}
+        if: ${{ github.ref == 'refs/heads/main' && env.BUILD_SHARED_LIBS == 'ON' }}
         uses: 'google-github-actions/auth@v1'
         with:
           project_id: ${{ secrets.GCE_PROJECT }}
           credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
       - name: GCloud CLI setup
-        if: ${{ github.ref == 'refs/heads/master' && env.BUILD_SHARED_LIBS == 'ON' }}
+        if: ${{ github.ref == 'refs/heads/main' && env.BUILD_SHARED_LIBS == 'ON' }}
         uses: google-github-actions/setup-gcloud@v1
         with:
           version: ${{ env.GCE_CLI_GHA_VERSION }}
           project_id: ${{ secrets.GCE_PROJECT }}
 
       - name: Upload package to GCS bucket
-        if: ${{ github.ref == 'refs/heads/master' && env.BUILD_SHARED_LIBS == 'ON' }}
+        if: ${{ github.ref == 'refs/heads/main' && env.BUILD_SHARED_LIBS == 'ON' }}
         run: |
-          gsutil cp build/package/${{ env.DEVEL_PKG_NAME }} gs://open3d-releases-master/devel/
-          echo "Download devel package at: https://storage.googleapis.com/open3d-releases-master/devel/${{ env.DEVEL_PKG_NAME }}"
+          gsutil cp build/package/${{ env.DEVEL_PKG_NAME }} gs://open3d-releases/devel/
+          echo "Download devel package at: https://storage.googleapis.com/open3d-releases/devel/${{ env.DEVEL_PKG_NAME }}"
 
       - name: Upload Open3D viewer app
         uses: actions/upload-artifact@v3
@@ -127,16 +127,16 @@ 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: ['3.7', '3.8', '3.9', '3.10']
-        is_master:
-          - ${{ github.ref == 'refs/heads/master' }}
+        python_version: ['3.8', '3.9', '3.10', '3.11']
+        is_main:
+          - ${{ github.ref == 'refs/heads/main' }}
         exclude:
-          - is_master: false
-            python_version: '3.7'
-          - is_master: false
+          - is_main: false
             python_version: '3.8'
-          - is_master: false
+          - is_main: false
             python_version: '3.9'
+          - is_main: false
+            python_version: '3.10'
 
     env:
       BUILD_CUDA_MODULE: OFF
@@ -206,26 +206,26 @@ jobs:
           if-no-files-found: error
 
       - name: GCloud CLI auth
-        if: ${{ github.ref == 'refs/heads/master' }}
+        if: ${{ github.ref == 'refs/heads/main' }}
         uses: 'google-github-actions/auth@v1'
         with:
           project_id: ${{ secrets.GCE_PROJECT }}
           credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
       - name: GCloud CLI setup
-        if: ${{ github.ref == 'refs/heads/master' }}
+        if: ${{ github.ref == 'refs/heads/main' }}
         uses: google-github-actions/setup-gcloud@v1
         with:
           version: ${{ env.GCE_CLI_GHA_VERSION }}
           project_id: ${{ secrets.GCE_PROJECT }}
 
       - name: Upload wheel to GCS bucket
-        if: ${{ github.ref == 'refs/heads/master' }}
+        if: ${{ github.ref == 'refs/heads/main' }}
         env:
           python_version: ${{ matrix.python_version }}
         run: |
           PYTAG="-cp$(echo ${{ env.python_version }} | tr -d '.')"
-          gsutil cp build/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }} gs://open3d-releases-master/python-wheels/
-          echo "Download pip package at: https://storage.googleapis.com/open3d-releases-master/python-wheels/${{ env.PIP_PKG_NAME }}"
+          gsutil cp build/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }} gs://open3d-releases/python-wheels/
+          echo "Download pip package at: https://storage.googleapis.com/open3d-releases/python-wheels/${{ env.PIP_PKG_NAME }}"
 
   test-wheel:
     name: Test wheel
@@ -234,16 +234,16 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: ['3.7', '3.8', '3.9', '3.10']
-        is_master:
-          - ${{ github.ref == 'refs/heads/master' }}
+        python_version: ['3.8', '3.9', '3.10', '3.11']
+        is_main:
+          - ${{ github.ref == 'refs/heads/main' }}
         exclude:
-          - is_master: false
-            python_version: '3.7'
-          - is_master: false
+          - is_main: false
             python_version: '3.8'
-          - is_master: false
+          - is_main: false
             python_version: '3.9'
+          - is_main: false
+            python_version: '3.10'
 
     env:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
@@ -286,7 +286,7 @@ jobs:
     name: Ready docs archive
     # no need to run on macOS
     runs-on: ubuntu-latest
-    if: ${{ github.ref == 'refs/heads/master' }}
+    if: ${{ github.ref == 'refs/heads/main' }}
     needs: [build-wheel, MacOS]
     steps:
       - name: GCloud CLI auth
@@ -311,6 +311,10 @@ jobs:
                 # Rename docs archive:
                 gsutil mv gs://open3d-docs/${{ github.sha }}_ready.tar.gz \
                     gs://open3d-docs/${{ github.sha }}.tar.gz
+                # Set holds on new artifacts, release on old
+                gsutil retention temp release gs://open3d-releases/*
+                gsutil retention temp set gs://open3d-releases/python-wheels/*${GITHUB_SHA:0:7}*.whl
+                gsutil retention temp set gs://open3d-releases/devel/*${GITHUB_SHA:0:7}*
             else
                 echo "All wheels / docs not available yet. Docs not ready."
             fi
diff --git a/.github/workflows/style.yml b/.github/workflows/style.yml
@@ -4,7 +4,7 @@ on:
   workflow_dispatch:
   push:
     branches:
-      - master
+      - main
   pull_request:
     types: [opened, reopened, synchronize] # Rebuild on new pushes to PR
 
@@ -21,7 +21,7 @@ jobs:
       - name: Set up Python version
         uses: actions/setup-python@v4
         with:
-          python-version: '3.7'
+          python-version: '3.8'
       - name: Install dependencies
         run: |
           pip install -U clang-format~=10.0.0 yapf==0.30.0 nbformat