Update docker builder using newer version of Open3D

GeneralizedICP has been now merged into the main branch of Open3D,
meaning that we don't need to build the full library from source.

3rdparty/patch_pykitti.sh

@@ -3,7 +3,7 @@ set -ex
 
 # Obtain the location of the pykitti package
 pykitti_dir=$(
-python - <<-EOF
+python3 - <<-EOF
 
 import sys
 import traceback

docker/builder/Dockerfile

@@ -16,32 +16,35 @@ RUN apt-get update && apt-get install --no-install-recommends -y \
     wget \
     && rm -rf /var/lib/apt/lists/*
 
-# Add python3 and pip aliases
-RUN update-alternatives \
-    --install /usr/bin/python python $(which python3) 20 \
-    --slave /usr/bin/pip pip $(which pip3)
-
-# Install 3rdparty dependencies, split dependencies for separate docker overlays
-COPY 3rdparty/embree.sh 3rdparty/
-RUN bash 3rdparty/embree.sh
-
-# Open3D needs cmake >= 3.18
-COPY 3rdparty/cmake.sh 3rdparty/
-RUN bash 3rdparty/cmake.sh
+# Install Open3D system dependencies
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    libgl1 \
+    libgomp1 \
+    && rm -rf /var/lib/apt/lists/*
 
-# Install generalized_icp branch of Open3D until reaches the main branch
-COPY 3rdparty/Open3D.sh 3rdparty/
-RUN bash 3rdparty/Open3D.sh
+# Upgrade pip
+RUN pip install --upgrade pip
 
 # Install Python dependencies
-RUN pip install --upgrade \
+RUN pip install --no-cache-dir --upgrade \
     black \
     pybind11 \
     setuptools
 
+# Install modern version of Open3D
+RUN pip install --upgrade --pre \
+    https://files.pythonhosted.org/packages/10/02/4f777e87131b3e111f91e16c1782da707b8b6a5777dbbe11a19e0dc7d1a3/open3d-0.15.2-cp38-cp38-manylinux_2_27_x86_64.whl
+
 # Install puma
 COPY . /puma
-RUN cd /puma && pip install --upgrade . && rm -rf /puma
+RUN cd /puma \
+    && pip install --no-cache-dir --requirement requirements.txt \
+    && pip install --no-cache-dir --upgrade . \
+    && rm -rf /puma
+
+# Install 3rdparty dependencies, split dependencies for separate docker overlays
+COPY 3rdparty/embree.sh 3rdparty/
+RUN bash 3rdparty/embree.sh
 
 # Patch pykitti to avoid pulling opencv-python dependency
 COPY 3rdparty/patch_pykitti.sh 3rdparty/

puma/registration/o3d_aliases.py

@@ -2,9 +2,4 @@
 
 PointToPoint = o3d.pipelines.registration.TransformationEstimationPointToPoint
 PointToPlane = o3d.pipelines.registration.TransformationEstimationPointToPlane
-try:
-    GICP = o3d.pipelines.registration.TransformationEstimationForGeneralizedICP
-except AttributeError as error:
-    raise SystemExit(
-        "Open3D with GeneralizedICP support not installed, check INSTALL.md"
-    )
+GICP = o3d.pipelines.registration.TransformationEstimationForGeneralizedICP

requirements.txt

@@ -3,6 +3,7 @@ PyYAML
 easydict
 matplotlib
 numpy
+open3d>=0.14
 pykitti
 tqdm
 trimesh