Merge branch 'isl-org:main' into master

.clang-format

@@ -2,7 +2,7 @@ BasedOnStyle: Google
 IndentWidth: 4
 ColumnLimit: 80
 UseTab: Never
-Standard: c++14
+Standard: c++17
 ContinuationIndentWidth: 8
 AccessModifierOffset: -4
 BinPackParameters: false

.github/ISSUE_TEMPLATE/0-build-issue-report.yml

@@ -11,9 +11,9 @@ body:
     options:
       - label: "I have searched for [similar issues](https://github.com/isl-org/Open3D/issues)."
         required: true
-      - label: "For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
+      - label: "For Python issues, I have tested with the [latest development wheel](https://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
         required: true
-      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch)."
+      - label: "I have checked the [release documentation](https://www.open3d.org/docs/release/) and the [latest documentation](https://www.open3d.org/docs/latest/) (for `main` branch)."
         required: true
 
 - type: textarea

.github/ISSUE_TEMPLATE/1-bug-report.yml

@@ -11,9 +11,9 @@ body:
     options:
       - label: "I have searched for [similar issues](https://github.com/isl-org/Open3D/issues)."
         required: true
-      - label: "For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
+      - label: "For Python issues, I have tested with the [latest development wheel](https://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
         required: true
-      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch)."
+      - label: "I have checked the [release documentation](https://www.open3d.org/docs/release/) and the [latest documentation](https://www.open3d.org/docs/latest/) (for `main` branch)."
         required: true
 
 - type: textarea

.github/ISSUE_TEMPLATE/2-questions.yml

@@ -11,9 +11,9 @@ body:
     options:
       - label: "I have searched for [similar issues](https://github.com/isl-org/Open3D/issues)."
         required: true
-      - label: "For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
+      - label: "For Python issues, I have tested with the [latest development wheel](https://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
         required: true
-      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch)."
+      - label: "I have checked the [release documentation](https://www.open3d.org/docs/release/) and the [latest documentation](https://www.open3d.org/docs/latest/) (for `main` branch)."
         required: true
 
 - type: textarea

.github/ISSUE_TEMPLATE/3-feature-request.yml

@@ -11,9 +11,9 @@ body:
     options:
       - label: "I have searched for [similar issues](https://github.com/isl-org/Open3D/issues)."
         required: true
-      - label: "For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
+      - label: "For Python issues, I have tested with the [latest development wheel](https://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
         required: true
-      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch)."
+      - label: "I have checked the [release documentation](https://www.open3d.org/docs/release/) and the [latest documentation](https://www.open3d.org/docs/latest/) (for `main` branch)."
         required: true
 
 - type: textarea

.github/ISSUE_TEMPLATE/config.yml

@@ -1,6 +1,6 @@
 contact_links:
   - name: Link to Open3D Documentation and Tutorials
-    url: http://www.open3d.org/docs/latest/
+    url: https://www.open3d.org/docs/latest/
     about: "Read the documentation and tutorials for Open3D."
   - name: Link to Open3D Discord Server
     url: https://discord.gg/D35BGvn

.github/workflows/README.md

@@ -14,7 +14,7 @@ actions updates. On macOS and Windows, using Ubuntu reduces CI cost.
 
 -   `.github/workflows/documentation.yml`: Github Actions workflow file to
     create and deploy documentation. Documentation is created for every branch
-    as a CI test, but deployed only for `master`.
+    as a CI test, but deployed only for `main`.
 -   `util/ci_utils.sh:build_docs()`: Called by GitHub Actions to build documentation.
 -   `unpack_docs.sh`: Called by the documentation server to deploy the docs into
     the website.
@@ -43,9 +43,9 @@ actions updates. On macOS and Windows, using Ubuntu reduces CI cost.
     gsutil lifecycle set gcs.lifecycle.json gs://open3d-docs/
     ```
 
-    Objects will be stored in the bucket for one week. Currently, the
-    documentation server fetches the latest docs from `master` branch every hour.
-    If the documentation server fails to fetch the docs matching the `master`
+    Objects will be stored in the bucket for 30 days. Currently, the
+    documentation server fetches the latest docs from `main` branch every hour.
+    If the documentation server fails to fetch the docs matching the `main`
     commit id, the last successfully fetched docs will be displayed.
 3.  Create service account
     ```bash
@@ -163,14 +163,14 @@ used for running CI.
 -   ARM64 cache (limit 1.5GB) is stored on Google cloud bucket
     (`open3d-ci-cache` in the `isl-buckets` project). The bucket is world
     readable, but needs the `open3d-ci-sa` service account for writing. Every
-    ARM64 build downloads the cache contents before build. Only `master` branch
+    ARM64 build downloads the cache contents before build. Only `main` branch
     builds use `gsutil rsync` to update the cache in GCS. Cache transfer only
     takes a few minutes, but reduces ARM64 CI time to about 1:15 hours.
 
 ## Development wheels and binary archives for user testing
 
-`master` branch Python wheels and binary archives are uploaded to a world
-readable GCS bucket in `open3d-releases-master/{python-wheels,devel}` for users
+`main` branch Python wheels and binary archives are uploaded to a world
+readable GCS bucket in `open3d-releases/{python-wheels,devel}` for users
 to try out development wheels.
 
 ### Google Cloud storage
@@ -185,10 +185,10 @@ bucket with:
 -   One month (30 days) object lifecycle
 
 ```bash
-gsutil mb -p open3d-dev -c STANDARD -l US -b on gs://open3d-releases-master
-gsutil acl ch -u AllUsers:R gs://open3d-releases-master
-gsutil lifecycle set gcs.lifecycle.json gs:/open3d-releases-master
+gsutil mb -p open3d-dev -c STANDARD -l US -b on gs://open3d-releases
+gsutil acl ch -u AllUsers:R gs://open3d-releases
+gsutil lifecycle set gcs.lifecycle.json gs:/open3d-releases
 gsutil iam ch \
     serviceAccount:open3d-ci-sa-gpu@open3d-dev.iam.gserviceaccount.com:objectAdmin \
-    gs://open3d-releases-master
+    gs://open3d-releases
 ```

.github/workflows/clean-gcloud-profiles.yml

@@ -16,14 +16,11 @@
 # happens, run this workflow manually to clean up the login profiles.
 
 name: Clean GCloud Profiles
+permissions:
+  contents: read
 
 on:
   workflow_dispatch:
-  # push:
-  #   branches:
-  #     - master
-  # pull_request:
-  #   types: [opened, reopened, synchronize]
 
 env:
   GCE_GPU_CI_SA: ${{ secrets.GCE_GPU_CI_SA }}
@@ -36,12 +33,12 @@ jobs:
       fail-fast: false
     steps:
       - name: GCloud CLI auth
-        uses: 'google-github-actions/auth@v1'
+        uses: 'google-github-actions/auth@v2'
         with:
           project_id: ${{ secrets.GCE_PROJECT }}
           credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
       - name: GCloud CLI setup
-        uses: google-github-actions/setup-gcloud@v1
+        uses: google-github-actions/setup-gcloud@v2
         with:
           version: ${{ env.GCE_CLI_GHA_VERSION }}
           project_id: ${{ secrets.GCE_PROJECT }}

.github/workflows/documentation.yml

@@ -1,4 +1,5 @@
 name: Documentation
+permissions: {}
 
 on:
   workflow_dispatch:
@@ -9,41 +10,39 @@ on:
         default: 'ON'
   push:
     branches:
-      - master
+      - main
   pull_request:
     types: [opened, reopened, synchronize]
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
   cancel-in-progress: true
 
-env:
-  GCE_CLI_GHA_VERSION: '416.0.0'      # Fixed to avoid dependency on API changes
-
 jobs:
-  headless-docs:
-    # Build headless and docs
+  headless-docs:   # Build headless and docs
+    permissions:
+      contents: write  # Artifact upload and release upload
     runs-on: ubuntu-latest  # Warn about build issues in new versions
     env:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
       DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }}
     steps:
       - name: Checkout Open3D source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Maximize build space
         run: |
           source util/ci_utils.sh
           maximize_ubuntu_github_actions_build_space
 
       - name: Checkout Open3D-ML source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           repository: isl-org/Open3D-ML
           path: ${{ env.OPEN3D_ML_ROOT }}
 
       - name: Setup cache
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           # Ref: https://github.com/apache/incubator-mxnet/pull/18459/files
           path: ~/.ccache
@@ -56,18 +55,18 @@ jobs:
           restore-keys: |
             ${{ runner.os }}-ccache
       - name: Set up Python version
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
-          python-version: '3.7'
+          python-version: '3.11'
 
       - name: Install dependencies
         env:
           DEBIAN_FRONTEND: noninteractive
         run: |
-          # the build system of the main repo expects a master branch. make sure
-          # master exists
+          # the build system of the main repo expects a main branch. make sure
+          # main exists
           pushd "${OPEN3D_ML_ROOT}"
-          git checkout -b master || true
+          git checkout -b main || true
           popd
           source util/ci_utils.sh
           install_docs_dependencies "${OPEN3D_ML_ROOT}"
@@ -78,51 +77,25 @@ jobs:
           ccache -s
           source util/ci_utils.sh
           build_docs "$DEVELOPER_BUILD"
+          # PWD: Open3D/docs
           ccache -s
+          tar_file="open3d-${GITHUB_SHA}-docs.tar.gz"
+          rm -rf "${GITHUB_WORKSPACE}/${tar_file}"
+          # Docs in docs/_out/html
+          tar -C _out -cvzf "${GITHUB_WORKSPACE}/${tar_file}" html
 
       - name: Upload docs
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: open3d_docs
-          path: docs/_out/html
+          name: open3d-${{ github.sha }}-docs.tar.gz
+          path: open3d-${{ github.sha }}-docs.tar.gz
           if-no-files-found: error
+          compression-level: 0 # no compression
 
-      - name: GCloud CLI auth
-        if: ${{ github.ref == 'refs/heads/master' }}
-        uses: 'google-github-actions/auth@v1'
-        with:
-          project_id: ${{ secrets.GCE_PROJECT }}
-          credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
-      - name: GCloud CLI setup
-        if: ${{ github.ref == 'refs/heads/master' }}
-        uses: google-github-actions/setup-gcloud@v1
-        with:
-          version: ${{ env.GCE_CLI_GHA_VERSION }}
-          project_id: ${{ secrets.GCE_PROJECT }}
-
-      - name: Deploy docs
-        if: ${{ github.ref == 'refs/heads/master' }}
-        run: |
-          # Compress and upload the docs, only for master branch
-          docs_out_dir="docs/_out" # Docs in ${docs_out_dir}/html
-          tar_file="${{ github.sha }}_ready.tar.gz"
-          rm -rf ${tar_file}
-          tar -C ${docs_out_dir} -czvf ${tar_file} html
-          gsutil cp ${tar_file} gs://open3d-docs/${tar_file}
-          echo "Docs archive uploaded to:"
-          echo "https://storage.googleapis.com/open3d-docs/${tar_file}"
-
-      - name: Check wheels and ready documentation archive
-        if: ${{ github.ref == 'refs/heads/master' }}
+      - name: Update devel release
+        if: ${{ github.ref == 'refs/heads/main' }}
+        env:
+          GH_TOKEN: ${{ github.token }}
         run: |
-            if [ $(gsutil ls gs://open3d-docs/${{ github.sha }}_ready* | wc -l)\
-                -eq 4 ]; then
-                echo "All wheels and docs available. Making docs ready."
-                # Remove all marker files: Note _ at end of pattern.
-                gsutil rm gs://open3d-docs/${{ github.sha }}_ready_*
-                # Rename docs archive:
-                gsutil mv gs://open3d-docs/${{ github.sha }}_ready.tar.gz \
-                    gs://open3d-docs/${{ github.sha }}.tar.gz
-            else
-                echo "All wheels / docs not available yet."
-            fi
+          gh release upload main-devel open3d-${{ github.sha }}-docs.tar.gz --clobber
+          gh release view main-devel

.github/workflows/gcs.lifecycle.json

@@ -5,7 +5,11 @@
         "type": "Delete"
       },
       "condition": {
-        "age": 7
+        "age": 30,
+        "matchesPrefix": [
+          "devel/",
+          "python-wheels/"
+        ]
       }
     }
   ]