Add support for python3.11

[OlivierLDff]

• Update the linux/mac/windows CI to handle python 3.11

Type

• Bug fix (non-breaking change which fixes an issue): Fixes #
• New feature (non-breaking change which adds functionality). Resolves #
• Breaking change (fix or feature that would cause existing functionality to not work as expected) Resolves #

Motivation and Context

Checklist:

• I have run python util/check_style.py --apply to apply Open3D code style
  to my code.
• This PR changes Open3D behavior or adds new functionality.
  • Both C++ (Doxygen) and Python (Sphinx / Google style) documentation is
    updated accordingly.
  • I have added or updated C++ and / or Python unit tests OR included test
    results (e.g. screenshots or numbers) here.
• I will follow up and update the code if CI fails.
• For fork PRs, I have selected Allow edits from maintainers.

Description

[atharvjairath-entrupy]

Hi, @OlivierLDff I wanted to extend my gratitude for your efforts in working on the Python 3.11 support for Open3D. I was trying the repo out, but faced error while building.

How to replicate:

sudo apt-get install libosmesa6-dev
sudo snap install cmake --classic
sudo apt install libglew-dev

git clone --recursive https://github.com/OlivierLDff/Open3D.git

cd Open3D
./util/install_deps_ubuntu.sh
git submodule update --init --recursive
mkdir build && cd build

cmake -DENABLE_HEADLESS_RENDERING=ON \
                 -DBUILD_GUI=OFF \
                 -DUSE_SYSTEM_GLEW=OFF \
                 -DUSE_SYSTEM_GLFW=OFF \
                 ..

Worked Fine Till here.

make -j$(nproc)

Error ouccred:

[ 85%] Building CXX object examples/cpp/CMakeFiles/PCDFileFormat.dir/PCDFileFormat.cpp.o
In file included from /home/atharv/entrupy/Open3D/build/_deps/ext_pybind11-src/include/pybind11/attr.h:13,
                 from /home/atharv/entrupy/Open3D/build/_deps/ext_pybind11-src/include/pybind11/pybind11.h:45,
                 from /home/atharv/entrupy/Open3D/build/_deps/ext_pybind11-src/include/pybind11/numpy.h:12,
                 from /home/atharv/entrupy/Open3D/build/_deps/ext_pybind11-src/include/pybind11/eigen.h:12,
                 from /home/atharv/entrupy/Open3D/cpp/pybind/../pybind/open3d_pybind.h:27,
                 from /home/atharv/entrupy/Open3D/cpp/pybind/../pybind/camera/camera.h:10,
                 from /home/atharv/entrupy/Open3D/cpp/pybind/camera/camera.cpp:8:
/home/atharv/entrupy/Open3D/build/_deps/ext_pybind11-src/include/pybind11/cast.h: In function ‘std::string pybind11::detail::error_string()’:
/home/atharv/entrupy/Open3D/build/_deps/ext_pybind11-src/include/pybind11/cast.h:446:36: error: invalid use of incomplete type ‘PyFrameObject’ {aka ‘struct _frame’}
  446 |                 "  " + handle(frame->f_code->co_filename).cast<std::string>() +
      |                                    ^~
In file included from /home/atharv/anaconda3/envs/py11/include/python3.11/Python.h:42,
                 from /home/atharv/entrupy/Open3D/build/_deps/ext_pybind11-src/include/pybind11/detail/common.h:124,
                 from /home/atharv/entrupy/Open3D/cpp/pybind/../pybind/open3d_pybind.h:25,
                 from /home/atharv/entrupy/Open3D/cpp/pybind/../pybind/camera/camera.h:10,
                 from /home/atharv/entrupy/Open3D/cpp/pybind/camera/camera.cpp:8:
/home/atharv/anaconda3/envs/py11/include/python3.11/pytypedefs.h:22:16: note: forward declaration of ‘PyFrameObject’ {aka ‘struct _frame’}
   22 | typedef struct _frame PyFrameObject;
      |                ^~~~~~
In file included from /home/atharv/entrupy/Open3D/build/_deps/ext_pybind11-src/include/pybind11/attr.h:13,
                 from /home/atharv/entrupy/Open3D/build/_deps/ext_pybind11-src/include/pybind11/pybind11.h:45,
                 from /home/atharv/entrupy/Open3D/build/_deps/ext_pybind11-src/include/pybind11/numpy.h:12,
                 from /home/atharv/entrupy/Open3D/build/_deps/ext_pybind11-src/include/pybind11/eigen.h:12,
                 from /home/atharv/entrupy/Open3D/cpp/pybind/../pybind/open3d_pybind.h:27,
                 from /home/atharv/entrupy/Open3D/cpp/pybind/../pybind/camera/camera.h:10,
                 from /home/atharv/entrupy/Open3D/cpp/pybind/camera/camera.cpp:8:
/home/atharv/entrupy/Open3D/build/_deps/ext_pybind11-src/include/pybind11/cast.h:446:75: error: expected primary-expression before ‘>’ token
  446 |                 "  " + handle(frame->f_code->co_filename).cast<std::string>() +
      |                                                                           ^
/home/atharv/entrupy/Open3D/build/_deps/ext_pybind11-src/include/pybind11/cast.h:446:77: error: expected primary-expression before ‘)’ token
  446 |                 "  " + handle(frame->f_code->co_filename).cast<std::string>() +


....
make[2]: *** [cpp/pybind/CMakeFiles/pybind.dir/build.make:104: cpp/pybind/CMakeFiles/pybind.dir/core/core.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
[ 85%] Building CXX object examples/cpp/CMakeFiles/PointCloud.dir/PointCloud.cpp.o
make[2]: *** [cpp/pybind/CMakeFiles/pybind.dir/build.make:90: cpp/pybind/CMakeFiles/pybind.dir/core/blob.cpp.o] Error 1
[ 85%] Building CXX object examples/cpp/CMakeFiles/PoseGraph.dir/PoseGraph.cpp.o
make[2]: *** [cpp/pybind/CMakeFiles/pybind.dir/build.make:76: cpp/pybind/CMakeFiles/pybind.dir/camera/camera.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:3319: cpp/pybind/CMakeFiles/pybind.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

OS: Linux

I understand that this pull request is a work in progress, and I wanted to clarify if these issues are expected behavior at this stage of development.
Once Again thank you for your contribution!

[OlivierLDff]

I didn't run into these pybind11 issue. Maybe updating it again would fix it?