Update CUDA requirements

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()
 

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}")

docs/compilation.rst

@@ -25,8 +25,8 @@ System requirements
   * macOS: Install with Homebrew: ``brew install cmake``
   * Windows: Download from: `CMake download page <https://cmake.org/download/>`_
 
-* CUDA 10.1+ (optional): Open3D supports GPU acceleration of an increasing number
-  of operations through CUDA on Linux. We recommend using CUDA 11.0 for the
+* CUDA 11.5+ (optional): Open3D supports GPU acceleration of an increasing number
+  of operations through CUDA on Linux. We recommend using CUDA 12+ for the
   best compatibility with recent GPUs and optional external dependencies such
   as Tensorflow or PyTorch. Please see the `official documentation
   <https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html>`_ to
@@ -250,7 +250,7 @@ pipelines from Open3D-ML in the python package, set ``BUNDLE_OPEN3D_ML=ON`` and
 Open3D-ML from GitHub during the build with
 ``OPEN3D_ML_ROOT=https://github.com/isl-org/Open3D-ML.git``.
 
-.. warning:: Compiling PyTorch ops with CUDA 11 and PyTorch < 1.9 may have
+.. warning:: Compiling PyTorch ops with PyTorch < 1.9 may have
     stability issues. See `Open3D issue #3324 <https://github.com/isl-org/Open3D/issues/3324>`_
     and `PyTorch issue #52663 <https://github.com/pytorch/pytorch/issues/52663>`_
     for more information on this problem. Official PyTorch wheels 1.9 and later