Add macOS arm64 CI runner, fix macOS arm64 builds #6695

sitic · 2024-03-13T03:41:17Z

GitHub macOS arm64 runners are now in public beta. Add them for testing and to build wheels.

Type

Bug fix (non-breaking change which fixes an issue): Fixes Cannot compile filament from the source on macOS 13.3.1 (M1 macOS) #6147
New feature (non-breaking change which adds functionality). Resolves Open3d-devel support for macOS arm64 Apple Silicon, please #6336
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

update-docs · 2024-03-13T03:41:21Z

Thanks for submitting this pull request! The maintainers of this repository would appreciate if you could update the CHANGELOG.md based on your changes.

ssheorey

Thanks for adding this @sitic Let me know if you need any help, or when it's ready for review.

util/ci_utils.sh

ssheorey · 2024-03-18T20:39:15Z

3rdparty/librealsense/librealsense.cmake

@@ -17,6 +17,9 @@ ExternalProject_Add(
    COMMAND ${GIT_EXECUTABLE} init
    COMMAND ${GIT_EXECUTABLE} apply --ignore-space-change --ignore-whitespace
        ${CMAKE_CURRENT_LIST_DIR}/fix-cudacrt.patch
+    # Patch for macOS ARM64 support for versions < 2.50.0


TODO: Upgrade librealsense to latest so that the patch isn't needed. We can create an issue for this.

I've opened #6714, however builds fail across all platforms currently due to linking and configuration errors. I'll check whats needed to fix them.

Thanks! Will take a look.

ssheorey · 2024-03-18T20:41:05Z

.github/workflows/macos.yml

            python_version: '3.8'
-          - is_main: false
+          - os: macos-14


OK to just move all macOS CI (for feature branches) to Python 3.9 for simplicity (no need to have separate options for Intel vs ARM). For main branch, we would need to keep 3.8-3.11 for Intel and 3.9-3.11 for ARM.

The setup-python action for macOS arm64 currently doesn't work for Python 3.9 unfortunately, see setup-python#808. Pull request python-versions#259 will fix this, once it's merged we can remove the if statements used to exclude python < 3.10 for the arm64 runner.

Could only get so far before running into isl-org/Open3D#6707 which is due to isl-org/Open3D#6695

sitic · 2024-03-24T22:17:22Z

MacOS says the arm64 version of the app is damaged when I try to open it:

xattr -c Open3D.app fixes the issue.

I don't understand why this warning instead of the unsigned developer one comes up. The only difference with the x64 version I see is that in the arm64 app libomp.dylib is dynamically linked and bundled, while the x64 app appears to statically link it.

Code-signing should probably resolve this issue.

sitic · 2024-03-24T22:26:19Z

@ssheorey should be ready for review, I'm waiting for CI to complete

ssheorey · 2024-03-25T04:30:05Z

Hi @errissa can you take a look at this PR, and also test the built artifacts (wheel, viewer, ...) on both Intel and ARM64 macOS systems?

.github/workflows/macos.yml

ssheorey · 2024-03-25T22:45:25Z

.github/workflows/macos.yml

+            ln -s $(which gfortran-13) /usr/local/bin/gfortran
+
+            # default Xcode 15.0.1 linker causes build issues, embree recommends clang <= 14 for arm64
+            sudo xcode-select -switch /Applications/Xcode_14.3.1.app


Is this related to libomp? If not, move it before (or after) the libomp customization to clarify that.

No, it's not. I've moved it up. The default Xcode (15.0.1) for the macos-14 runner uses a new linker (ld-prime) which causes build issues. Newer Xcode versions fix these problems, but I decided to use Xcode 14.3.1 because the embree release mentions possible "EXEC_BAD_INSTRUCTION" runtime exceptions for Xcode >= 15: https://github.com/embree/embree/releases/tag/v4.3.1

I haven't seen these runtime exceptions being triggered. Added all of that as a code comment.

.github/workflows/macos.yml

ssheorey · 2024-03-25T22:54:54Z

3rdparty/librealsense/librealsense.cmake

@@ -17,6 +17,9 @@ ExternalProject_Add(
    COMMAND ${GIT_EXECUTABLE} init
    COMMAND ${GIT_EXECUTABLE} apply --ignore-space-change --ignore-whitespace
        ${CMAKE_CURRENT_LIST_DIR}/fix-cudacrt.patch
+    # Patch for macOS ARM64 support for versions < 2.50.0


Thanks! Will take a look.

cpp/tests/geometry/TriangleMesh.cpp

ssheorey

Tested universal wheels on x86_64. Need testing on arm64 @errissa
Filament arm64 binaries uploaded to open3d_downloads.

@sitic only request would be to create fused binaries for the viewer app and the devel package. Good to merge after that.

docs/getting_started.in.rst

.github/workflows/macos.yml

3rdparty/filament/filament_download.cmake

sitic · 2024-04-01T07:51:10Z

I've added a job to merge the x64 and arm64 viewer .app bundles. I don't get the "damaged" warning from my last comment anymore, only the normal downloaded app warning with the universal app.

One remaining difference between the x64 and Apple Silicon builds is WebRTC support, it's currently disabled in the Apple Silicon builds. We should probably fix that. Without fixing that it would be challenging to create universal devel packages because the includes are different.

I've tried running the WebRTC workflow to build the arm64 binaries, for the currently pinned WebRTC commit the builds fail for all runners (CI job) because some upstream build binary seems to be deleted. For a recent WebRTC commit one of the patches to control CXX11 ABI fails. I'll take a look if the WebRTC build is easy to fix.

Another issue for creating an universal devel package is that the INTERFACE_LINK_OPTIONS options of the Open3D::Open3D target in Open3DTargets.cmake are different. The INTERFACE_LINK_OPTIONS contains a lot of \$<LINK_ONLY:\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libz.a>; type of options, but the exact list of libraries is different between x64 and Apple Silicon:

X64 build:

set_target_properties(Open3D::Open3D PROPERTIES
  INTERFACE_COMPILE_DEFINITIONS "_GLIBCXX_USE_CXX11_ABI=0;_GLIBCXX_USE_CXX11_ABI=0;FMT_HEADER_ONLY=0;FMT_USE_WINDOWS_H=0;FMT_STRING_ALIAS=1"
  INTERFACE_COMPILE_FEATURES "cxx_std_14"
  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include;${_IMPORT_PREFIX}/include;${_IMPORT_PREFIX}/include/open3d/3rdparty;${_IMPORT_PREFIX}/include/open3d/3rdparty;${_IMPORT_PREFIX}/include/open3d/3rdparty;${_IMPORT_PREFIX}/include/open3d/3rdparty"
  INTERFACE_LINK_LIBRARIES "Open3D::3rdparty_eigen3;Open3D::3rdparty_parallelstl"
  INTERFACE_LINK_OPTIONS "\$<\$<STREQUAL:\$<TARGET_PROPERTY:Open3D::Open3D,TYPE>,STATIC_LIBRARY>:\$<LINK_ONLY:\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libz.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libzmq.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkFiltersGeneral-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkFiltersSources-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkFiltersModeling-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkFiltersCore-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkCommonExecutionModel-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkCommonDataModel-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkCommonTransforms-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkCommonMath-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkCommonMisc-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkCommonSystem-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkCommonCore-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkkissfft-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkpugixml-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtksys-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libUVAtlas.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libmkl_intel_ilp64.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libmkl_tbb_thread.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libmkl_core.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libtbb_static.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libippiw.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libippicv.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libembree4.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libembree_sse42.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libsimd.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,liblexers.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libsys.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libmath.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libtasking.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libwebrtc.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libwebrtc_extra.a>>>"
)

Apple Silicon build:

set_target_properties(Open3D::Open3D PROPERTIES
  INTERFACE_COMPILE_DEFINITIONS "_GLIBCXX_USE_CXX11_ABI=0;_GLIBCXX_USE_CXX11_ABI=0;FMT_HEADER_ONLY=0;FMT_USE_WINDOWS_H=0;FMT_STRING_ALIAS=1"
  INTERFACE_COMPILE_FEATURES "cxx_std_14"
  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include;${_IMPORT_PREFIX}/include;${_IMPORT_PREFIX}/include/open3d/3rdparty;${_IMPORT_PREFIX}/include/open3d/3rdparty;${_IMPORT_PREFIX}/include/open3d/3rdparty;${_IMPORT_PREFIX}/include/open3d/3rdparty"
  INTERFACE_LINK_LIBRARIES "Open3D::3rdparty_eigen3;Open3D::3rdparty_parallelstl"
  INTERFACE_LINK_OPTIONS "\$<\$<STREQUAL:\$<TARGET_PROPERTY:Open3D::Open3D,TYPE>,STATIC_LIBRARY>:\$<LINK_ONLY:\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libz.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libzmq.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkFiltersGeneral-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkFiltersSources-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkFiltersModeling-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkFiltersCore-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkCommonExecutionModel-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkCommonDataModel-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkCommonTransforms-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkCommonMath-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkCommonMisc-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkCommonSystem-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkCommonCore-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkkissfft-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtkpugixml-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libvtksys-9.1.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libUVAtlas.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libopenblas.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libembree4.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libembree_avx2.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libsimd.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,liblexers.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libsys.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libmath.a>;\$<\$<CXX_COMPILER_ID:GNU>:LINKER:--exclude-libs,libtasking.a>>>"
)

The WebRTC support and the INTERFACE_LINK_OPTIONS of Open3DTargets.cmake are the only differences otherwise, the .dylib libraries would be easy to merge with lipo -create ARM64/lib/open3d_tf_ops.dylib X64/lib/libOpen3D.dylib -output libOpen3D.dylib.

$ diff -qr ARM64 X64                             
Files ARM64/include/open3d/Open3D.h and X64/include/open3d/Open3D.h differ
Files ARM64/lib/cmake/Open3D/Open3DTargets.cmake and X64/lib/cmake/Open3D/Open3DTargets.cmake differ
Files ARM64/lib/libOpen3D.dylib and X64/lib/libOpen3D.dylib differ
Files ARM64/lib/open3d_tf_ops.dylib and X64/lib/open3d_tf_ops.dylib differ
Files ARM64/lib/open3d_torch_ops.dylib and X64/lib/open3d_torch_ops.dylib differ
Only in X64/share/resources: html

ssheorey · 2024-04-17T00:37:20Z

Thanks @sitic I think this PR looks very good already. I'm going to go ahead and merge it. Let's work on adding support for WebRTC (remote rendering) for macOS ARM64 in a new PR. Looks like we may need to update the WebRTC version.

ssheorey

Tested fused macOS python wheels and fused macOS viewer on Intel macOS.

sitic marked this pull request as draft March 13, 2024 03:41

ssheorey self-requested a review March 14, 2024 23:14

sitic mentioned this pull request Mar 17, 2024

Cannot pip install v0.18 on x86_64 arch with OSX 14 and Python 3.9 #6686

Open

3 tasks

ssheorey reviewed Mar 18, 2024

View reviewed changes

ssheorey mentioned this pull request Mar 19, 2024

Unable to link Open3D 0.18.0 to existing c++ project in Xcode [macOS arm64] #6707

Open

3 tasks

cwreynolds added a commit to cwreynolds/evoflock that referenced this pull request Mar 19, 2024

WIP integrating Open3D 0.18.0

35f1ea9

Could only get so far before running into isl-org/Open3D#6707 which is due to isl-org/Open3D#6695

sitic force-pushed the m1 branch from b9d8241 to 514d86e Compare March 23, 2024 04:46

sitic mentioned this pull request Mar 24, 2024

Update librealsense to v2.54.2 #6714

Draft

9 tasks

sitic force-pushed the m1 branch 4 times, most recently from df27b22 to 857ba22 Compare March 24, 2024 22:14

sitic changed the title ~~WIP: Add macOS arm64 CI runner, fix macOS arm64 builds~~ Add macOS arm64 CI runner, fix macOS arm64 builds Mar 24, 2024

sitic marked this pull request as ready for review March 24, 2024 22:25

ssheorey requested a review from errissa March 25, 2024 04:28

ssheorey reviewed Mar 25, 2024

View reviewed changes

ssheorey mentioned this pull request Mar 28, 2024

Request: publish a distribution that works with Python 3.10 under Nix on macOS #6701

Open

3 tasks

ssheorey reviewed Mar 29, 2024

View reviewed changes

docs/getting_started.in.rst Outdated Show resolved Hide resolved

.github/workflows/macos.yml Show resolved Hide resolved

3rdparty/filament/filament_download.cmake Outdated Show resolved Hide resolved

sitic added 8 commits March 31, 2024 14:15

Test macOS arm64 runner

152f53e

Use matrix to run jobs for both Intel and Apple SIlicon

a08647e

cleanup workflow, try to fix libomp related issue

ca959f5

Fuse x64 and arm64 wheels, fix wheel naming & unit tests

7967d7c

embree 4.3.1: fix macOS arm64 compile

f5c7717

Add prebuilt arm64 filament binaries

6231ed5

Fix doc links, wheels use macosx_10_5 tag again

1736969

Update workflow

10aa076

sitic added 3 commits March 31, 2024 18:24

Rebase onto main, fix breaking changes

5b3f0a3

Fix & update URLs

c66c211

Fuse viewer app

1473917

sitic force-pushed the m1 branch from b7aed91 to 1473917 Compare April 1, 2024 03:25

Fix workflow

dce6d4d

ssheorey added 3 commits April 16, 2024 09:54

Merge branch 'main' of github.com:intel-isl/Open3D into m1

d875f33

Documentation CI fix by adding lxml[html_clean] to requirements.

bd996e9

Fix for uploading linux CUDA artifacts to github name clash

00b106c

ssheorey approved these changes Apr 17, 2024

View reviewed changes

ssheorey merged commit a4a173e into isl-org:main Apr 17, 2024
37 checks passed

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Add macOS arm64 CI runner, fix macOS arm64 builds #6695

Add macOS arm64 CI runner, fix macOS arm64 builds #6695

sitic commented Mar 13, 2024 •

edited

update-docs bot commented Mar 13, 2024

ssheorey left a comment

ssheorey Mar 18, 2024

sitic Mar 24, 2024

ssheorey Mar 25, 2024

ssheorey Mar 18, 2024

sitic Mar 24, 2024 •

edited

sitic commented Mar 24, 2024 •

edited

sitic commented Mar 24, 2024

ssheorey commented Mar 25, 2024

ssheorey Mar 25, 2024

sitic Mar 26, 2024

ssheorey Mar 25, 2024

ssheorey left a comment

sitic commented Apr 1, 2024 •

edited

ssheorey commented Apr 17, 2024

ssheorey left a comment

Add macOS arm64 CI runner, fix macOS arm64 builds #6695

Add macOS arm64 CI runner, fix macOS arm64 builds #6695

Conversation

sitic commented Mar 13, 2024 • edited

Type

Motivation and Context

Checklist:

Description

update-docs bot commented Mar 13, 2024

ssheorey left a comment

Choose a reason for hiding this comment

ssheorey Mar 18, 2024

Choose a reason for hiding this comment

sitic Mar 24, 2024

Choose a reason for hiding this comment

ssheorey Mar 25, 2024

Choose a reason for hiding this comment

ssheorey Mar 18, 2024

Choose a reason for hiding this comment

sitic Mar 24, 2024 • edited

Choose a reason for hiding this comment

sitic commented Mar 24, 2024 • edited

sitic commented Mar 24, 2024

ssheorey commented Mar 25, 2024

ssheorey Mar 25, 2024

Choose a reason for hiding this comment

sitic Mar 26, 2024

Choose a reason for hiding this comment

ssheorey Mar 25, 2024

Choose a reason for hiding this comment

ssheorey left a comment

Choose a reason for hiding this comment

sitic commented Apr 1, 2024 • edited

ssheorey commented Apr 17, 2024

ssheorey left a comment

Choose a reason for hiding this comment

sitic commented Mar 13, 2024 •

edited

sitic Mar 24, 2024 •

edited

sitic commented Mar 24, 2024 •

edited

sitic commented Apr 1, 2024 •

edited