Add support for python3.11 (#6288)

- Add support for python3.11 - Update the linux/mac/windows CI to handle python 3.11 -️ Upgrade pytorch to 2.0.1 with cuda 11.7 - Upgrade tensorflow / tensorboard to 2.13. This needs C++17 (not supported by MSVC 19.29). - scipy 1.11.2 - Disable building tensorflow ops on Linux. Keep old cxx11_abi. - In Open3D-ML companion PR, add instructions to build with new cxx11_abi with tensorflow ops support. - Set cxx11_abi based on tf / torch ops in ci_utls.sh - Add env var to control building tf ops and pytorch ops in docker. --------- Co-authored-by: Sameer Sheorey <41028320+ssheorey@users.noreply.github.com>
isl-org · Oct 23, 2023 · a2401d0 · a2401d0
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diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml
@@ -58,7 +58,7 @@ jobs:
       - name: Set up Python version
         uses: actions/setup-python@v4
         with:
-          python-version: '3.7'
+          python-version: '3.8'
 
       - name: Install dependencies
         env:

diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
@@ -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
@@ -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']
+        python_version: ['3.8', '3.9', '3.10', '3.11']
         is_master:
           - ${{ github.ref == 'refs/heads/master' }}
         exclude:
-          - is_master: false
-            python_version: '3.7'
           - is_master: false
             python_version: '3.8'
           - is_master: false
             python_version: '3.9'
+          - is_master: false
+            python_version: '3.10'
 
     env:
       BUILD_CUDA_MODULE: OFF
@@ -234,16 +234,16 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: ['3.7', '3.8', '3.9', '3.10']
+        python_version: ['3.8', '3.9', '3.10', '3.11']
         is_master:
           - ${{ github.ref == 'refs/heads/master' }}
         exclude:
-          - is_master: false
-            python_version: '3.7'
           - is_master: false
             python_version: '3.8'
           - is_master: false
             python_version: '3.9'
+          - is_master: false
+            python_version: '3.10'
 
     env:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML

diff --git a/.github/workflows/style.yml b/.github/workflows/style.yml
@@ -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

diff --git a/.github/workflows/ubuntu-wheel.yml b/.github/workflows/ubuntu-wheel.yml
@@ -19,6 +19,9 @@ concurrency:
 
 env:
   GCE_CLI_GHA_VERSION: '416.0.0'      # Fixed to avoid dependency on API changes
+  BUILD_CUDA_MODULE: 'ON'
+  BUILD_PYTORCH_OPS: 'ON'
+  BUILD_TENSORFLOW_OPS: 'OFF'   # Turn ON when cxx11_abi is same for TF and PyTorch
 
 jobs:
   build-wheel:
@@ -27,16 +30,16 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: ['3.7', '3.8', '3.9', '3.10']
+        python_version: ['3.8', '3.9', '3.10', '3.11']
         is_master:
           - ${{ github.ref == 'refs/heads/master' }}
         exclude:
-          - is_master: false
-            python_version: '3.7'
           - is_master: false
             python_version: '3.8'
           - is_master: false
             python_version: '3.9'
+          - is_master: false
+            python_version: '3.10'
     env:
       DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }}
       PYTHON_VERSION: ${{ matrix.python_version }}
@@ -53,22 +56,22 @@ jobs:
       # `docker/docker_build.sh xxx` command to execute locally.
       - name: Docker build
         run: |
-          if [ "${{ env.PYTHON_VERSION }}" = "3.7" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
-            docker/docker_build.sh cuda_wheel_py37_dev
-          elif [ "${{ env.PYTHON_VERSION }}" = "3.8" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
+          if [ "${{ env.PYTHON_VERSION }}" = "3.8" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
             docker/docker_build.sh cuda_wheel_py38_dev
           elif [ "${{ env.PYTHON_VERSION }}" = "3.9" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
             docker/docker_build.sh cuda_wheel_py39_dev
           elif [ "${{ env.PYTHON_VERSION }}" = "3.10" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
             docker/docker_build.sh cuda_wheel_py310_dev
-          elif [ "${{ env.PYTHON_VERSION }}" = "3.7" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
-            docker/docker_build.sh cuda_wheel_py37
+          elif [ "${{ env.PYTHON_VERSION }}" = "3.11" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
+            docker/docker_build.sh cuda_wheel_py311_dev
           elif [ "${{ env.PYTHON_VERSION }}" = "3.8" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
             docker/docker_build.sh cuda_wheel_py38
           elif [ "${{ env.PYTHON_VERSION }}" = "3.9" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
             docker/docker_build.sh cuda_wheel_py39
           elif [ "${{ env.PYTHON_VERSION }}" = "3.10" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
             docker/docker_build.sh cuda_wheel_py310
+          elif [ "${{ env.PYTHON_VERSION }}" = "3.11" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
+            docker/docker_build.sh cuda_wheel_py311
           fi
           PIP_PKG_NAME="$(basename ${GITHUB_WORKSPACE}/open3d-[0-9]*.whl)"
           PIP_CPU_PKG_NAME="$(basename ${GITHUB_WORKSPACE}/open3d_cpu*.whl)"
@@ -114,16 +117,16 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: ['3.7', '3.8', '3.9', '3.10']
+        python_version: ['3.8', '3.9', '3.10', '3.11']
         is_master:
           - ${{ github.ref == 'refs/heads/master' }}
         exclude:
-          - is_master: false
-            python_version: '3.7'
           - is_master: false
             python_version: '3.8'
           - is_master: false
             python_version: '3.9'
+          - is_master: false
+            python_version: '3.10'
     env:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
     steps:

diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
@@ -35,8 +35,6 @@ jobs:
     env:
       BUILD_SHARED_LIBS: ${{ matrix.BUILD_SHARED_LIBS }}
       BUILD_CUDA_MODULE: OFF
-      BUILD_TENSORFLOW_OPS: ${{ matrix.MLOPS }}
-      BUILD_PYTORCH_OPS: ${{ matrix.MLOPS }}
       DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }}
       OPEN3D_CPU_RENDERING: true
     steps:

diff --git a/.github/workflows/vtk_packages.yml b/.github/workflows/vtk_packages.yml
@@ -9,6 +9,7 @@ on:
 jobs:
 
   Linux:
+    # TODO: Convert to docker
     runs-on: ubuntu-18.04
     steps:
       - name: Checkout source code

diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
@@ -19,15 +19,11 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  PIP_VER: "21.1.1"
+  PIP_VER: "23.2.1"
   WHEEL_VER: "0.38.4"
   STOOLS_VER: "67.3.2"
-  PYTEST_VER: "7.1.2"
-  PYTEST_RANDOMLY_VER: "3.8.0"
-  SCIPY_VER: "1.7.3"
   JEDI_VER: "0.17.2"  # https://github.com/ipython/ipython/issues/12740
   IDNA_VER: "2.8"  # https://github.com/psf/requests/issues/5710
-  TENSORBOARD_VER: "2.8"
   SRC_DIR: "D:\\a\\open3d\\open3d"
   BUILD_DIR: "C:\\Open3D\\build"
   NPROC: 2
@@ -101,7 +97,7 @@ jobs:
       - name: Set up Python version
         uses: actions/setup-python@v4
         with:
-          python-version: 3.7
+          python-version: 3.8
 
       - name: Config
         # Move build directory to C: https://github.com/actions/virtual-environments/issues/1341
@@ -246,16 +242,16 @@ 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']
+        python_version: ['3.8', '3.9', '3.10', '3.11']
         is_master:
           - ${{ github.ref == 'refs/heads/master' }}
         exclude:
-          - is_master: false
-            python_version: '3.7'
           - is_master: false
             python_version: '3.8'
           - is_master: false
             python_version: '3.9'
+          - is_master: false
+            python_version: '3.10'
 
     steps:
       - name: Checkout source code
@@ -351,16 +347,16 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: ['3.7', '3.8', '3.9', '3.10']
+        python_version: ['3.8', '3.9', '3.10', '3.11']
         is_master:
           - ${{ github.ref == 'refs/heads/master' }}
         exclude:
-          - is_master: false
-            python_version: '3.7'
           - is_master: false
             python_version: '3.8'
           - is_master: false
             python_version: '3.9'
+          - is_master: false
+            python_version: '3.10'
 
     steps:
       - name: Checkout source code
@@ -388,10 +384,7 @@ jobs:
           python -m pip install --upgrade pip==${{ env.PIP_VER }} `
             wheel==${{ env.WHEEL_VER }} `
             setuptools==${{ env.STOOLS_VER }}
-          python -m pip install -U pytest==${{ env.PYTEST_VER }}
-          python -m pip install -U pytest-randomly==${{ env.PYTEST_RANDOMLY_VER }}
-          python -m pip install -U scipy==${{ env.SCIPY_VER }} `
-            tensorboard==${{ env.TENSORBOARD_VER }}
+          python -m pip install -U -r python/requirements_test.txt
           $py_tag=(python -c "import sys; print(f'cp{sys.version_info.major}{sys.version_info.minor}')")
           if (Test-Path -Path "pip_package") {
             $PIP_PKG_NAME=(Get-ChildItem pip_package\open3d*-$py_tag-*.whl).Name

diff --git a/.gitignore b/.gitignore
@@ -83,6 +83,7 @@ docs/tutorial/**/*.ply
 docs/tutorial/**/*.pcd
 docs/tutorial/**/*.json
 docs/_out/
+docs/_build/
 docs/python_api/
 docs/python_example/
 docs/conf.py

diff --git a/3rdparty/cmake/FindPytorch.cmake b/3rdparty/cmake/FindPytorch.cmake
@@ -97,18 +97,43 @@ foreach(lib ${TORCH_LIBRARIES})
 endforeach(lib)
 
 # Check if the c++11 ABI is compatible on Linux
-if(UNIX AND NOT APPLE AND ((Pytorch_CXX11_ABI AND (NOT GLIBCXX_USE_CXX11_ABI)) OR
-   (NOT Pytorch_CXX11_ABI AND GLIBCXX_USE_CXX11_ABI)))
-    if(Pytorch_CXX11_ABI)
-        set(NEEDED_ABI_FLAG "ON")
+if(UNIX AND NOT APPLE)
+    if((Pytorch_CXX11_ABI AND (NOT GLIBCXX_USE_CXX11_ABI)) OR
+       (NOT Pytorch_CXX11_ABI AND GLIBCXX_USE_CXX11_ABI))
+        if(Pytorch_CXX11_ABI)
+            set(NEEDED_ABI_FLAG "ON")
+        else()
+            set(NEEDED_ABI_FLAG "OFF")
+        endif()
+        message(FATAL_ERROR "PyTorch and Open3D ABI mismatch: ${Pytorch_CXX11_ABI} != ${GLIBCXX_USE_CXX11_ABI}.\n"
+                            "Please use -DGLIBCXX_USE_CXX11_ABI=${NEEDED_ABI_FLAG} "
+                            "in the cmake config command to change the Open3D ABI.")
     else()
-        set(NEEDED_ABI_FLAG "OFF")
+        message(STATUS "PyTorch matches Open3D ABI: ${Pytorch_CXX11_ABI} == ${GLIBCXX_USE_CXX11_ABI}")
     endif()
-    message(FATAL_ERROR "PyTorch and Open3D ABI mismatch: ${Pytorch_CXX11_ABI} != ${GLIBCXX_USE_CXX11_ABI}.\n"
-                        "Please use -DGLIBCXX_USE_CXX11_ABI=${NEEDED_ABI_FLAG} "
-                        "in the cmake config command to change the Open3D ABI.")
-else()
-    message(STATUS "PyTorch matches Open3D ABI: ${Pytorch_CXX11_ABI} == ${GLIBCXX_USE_CXX11_ABI}")
+endif()
+
+message(STATUS "Pytorch_VERSION: ${Pytorch_VERSION}, CUDAToolkit_VERSION: ${CUDAToolkit_VERSION}")
+if (BUILD_PYTORCH_OPS AND BUILD_CUDA_MODULE AND CUDAToolkit_VERSION
+        VERSION_GREATER_EQUAL "11.0" AND Pytorch_VERSION VERSION_LESS
+        "1.9")
+    message(WARNING
+        "--------------------------------------------------------------------------------\n"
+        "                                                                                \n"
+        " You are compiling PyTorch ops with CUDA 11 with PyTorch version < 1.9. This    \n"
+        " configuration may have stability issues. See                                   \n"
+        " https://github.com/isl-org/Open3D/issues/3324 and                              \n"
+        " https://github.com/pytorch/pytorch/issues/52663 for more information on this   \n"
+        " problem.                                                                       \n"
+        "                                                                                \n"
+        " We recommend to compile PyTorch from source with compile flags                 \n"
+        "   '-Xcompiler -fno-gnu-unique'                                                 \n"
+        "                                                                                \n"
+        " or use the PyTorch wheels at                                                   \n"
+        "   https://github.com/isl-org/open3d_downloads/releases/tag/torch1.8.2          \n"
+        "                                                                                \n"
+        "--------------------------------------------------------------------------------\n"
+    )
 endif()
 
 include(FindPackageHandleStandardArgs)

diff --git a/3rdparty/cmake/FindTensorflow.cmake b/3rdparty/cmake/FindTensorflow.cmake
@@ -43,7 +43,7 @@ if(NOT Tensorflow_FOUND)
     # Get Tensorflow_FRAMEWORK_LIB
     find_library(
         Tensorflow_FRAMEWORK_LIB
-        NAMES tensorflow_framework libtensorflow_framework.so.2
+        NAMES tensorflow_framework tensorflow_framework.2 libtensorflow_framework.so.2
         PATHS "${Tensorflow_LIB_DIR}"
         NO_DEFAULT_PATH
     )
@@ -59,21 +59,23 @@ if (UNIX AND NOT APPLE)
 endif()
 
 # Check if the c++11 ABI is compatible
-if(UNIX AND NOT APPLE AND ((Tensorflow_CXX11_ABI AND (NOT GLIBCXX_USE_CXX11_ABI)) OR
-   (NOT Tensorflow_CXX11_ABI AND GLIBCXX_USE_CXX11_ABI)))
-    if(TensorFlow_CXX11_ABI)
-        set(NEEDED_ABI_FLAG "ON")
+if (UNIX AND NOT APPLE)
+    if(((Tensorflow_CXX11_ABI AND (NOT GLIBCXX_USE_CXX11_ABI)) OR
+       (NOT Tensorflow_CXX11_ABI AND GLIBCXX_USE_CXX11_ABI)))
+        if(TensorFlow_CXX11_ABI)
+            set(NEEDED_ABI_FLAG "ON")
+        else()
+            set(NEEDED_ABI_FLAG "OFF")
+        endif()
+        message(FATAL_ERROR "TensorFlow and Open3D ABI mismatch: ${Tensorflow_CXX11_ABI} != ${GLIBCXX_USE_CXX11_ABI}.\n"
+                            "Please use -D GLIBCXX_USE_CXX11_ABI=${NEEDED_ABI_FLAG} "
+                            "in the cmake config command to change the Open3D ABI.")
     else()
-        set(NEEDED_ABI_FLAG "OFF")
+        message(STATUS "TensorFlow matches Open3D ABI: ${Tensorflow_CXX11_ABI} == ${GLIBCXX_USE_CXX11_ABI}")
     endif()
-    message(FATAL_ERROR "TensorFlow and Open3D ABI mismatch: ${Tensorflow_CXX11_ABI} != ${GLIBCXX_USE_CXX11_ABI}.\n"
-                        "Please use -D GLIBCXX_USE_CXX11_ABI=${NEEDED_ABI_FLAG} "
-                        "in the cmake config command to change the Open3D ABI.")
-else()
-    message(STATUS "TensorFlow matches Open3D ABI: ${Tensorflow_CXX11_ABI} == ${GLIBCXX_USE_CXX11_ABI}")
 endif()
 
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(
     Tensorflow DEFAULT_MSG Tensorflow_INCLUDE_DIR Tensorflow_LIB_DIR
-    Tensorflow_FRAMEWORK_LIB Tensorflow_DEFINITIONS)
+    Tensorflow_DEFINITIONS)
diff --git a/3rdparty/pybind11/pybind11.cmake b/3rdparty/pybind11/pybind11.cmake
@@ -3,8 +3,8 @@ include(FetchContent)
 FetchContent_Declare(
     ext_pybind11
     PREFIX pybind11
-    URL https://github.com/pybind/pybind11/archive/refs/tags/v2.6.2.tar.gz
-    URL_HASH SHA256=8ff2fff22df038f5cd02cea8af56622bc67f5b64534f1b83b9f133b8366acff2
+    URL https://github.com/pybind/pybind11/archive/refs/tags/v2.11.1.tar.gz
+    URL_HASH SHA256=d475978da0cdc2d43b73f30910786759d593a9d8ee05b1b6846d1eb16c6d2e0c
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/pybind11"
 )
 

diff --git a/3rdparty/vtk/CMakeLists.txt b/3rdparty/vtk/CMakeLists.txt
@@ -30,7 +30,7 @@ if(WIN32)
 endif()
 
 if (APPLE)
-set (CMAKE_OSX_DEPLOYMENT_TARGET "10.15" CACHE STRING
+set (CMAKE_OSX_DEPLOYMENT_TARGET "12.6" CACHE STRING
     "Minimum OS X deployment version" FORCE)
 endif()
 

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -18,6 +18,7 @@
 * Changed TriangleMesh to store materials in a list so they can be accessed by the material index (PR #5938)
 * Support multi-threading in the RayCastingScene function to commit scene (PR #6051).
 * Fix some bad triangle generation in TriangleMesh::SimplifyQuadricDecimation
+* Python 3.11 support. bump pybind11 v2.6.2 -> v2.11.1
 
 ## 0.13
 

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -290,11 +290,14 @@ endif()
 
 # Global flag to set CXX standard.
 # This does not affect 3rd party libraries.
-if (BUILD_SYCL_MODULE)
+# Tensorflow 2.9+ requires cxx_17, but MSVC 19.29 throws errors with C++17
+# enabled.
+if (BUILD_SYCL_MODULE OR BUILD_TENSORFLOW_OPS)
     set(CMAKE_CXX_STANDARD 17)
 else()
     set(CMAKE_CXX_STANDARD 14)
 endif()
+set(CMAKE_CXX_EXTENSIONS OFF)   # Improved compatibility
 
 # FIXME: Remove this workaround once a fixed Visual Studio 16.10 version is released.
 if (BUILD_CUDA_MODULE