Merge master. Style fixes

.github/workflows/ubuntu-wheel.yml

@@ -109,7 +109,7 @@ jobs:
 
  test-wheel-cpu:
  name: Test wheel CPU
- runs-on: ubuntu-18.04
+ runs-on: ubuntu-20.04
  needs: [build-wheel]
  strategy:
  fail-fast: false

.github/workflows/ubuntu.yml

@@ -79,6 +79,13 @@ jobs:
  name: open3d-devel-linux-x86_64
  path: open3d-devel-*.tar.xz
  if-no-files-found: error
+ - name: Upload viewer to GitHub artifacts
+ if: ${{ env.BUILD_SHARED_LIBS == 'OFF' }}
+ uses: actions/upload-artifact@v3
+ with:
+ name: open3d-viewer-Linux
+ path: open3d-viewer-*-Linux.deb
+ if-no-files-found: error
  - name: GCloud CLI auth
  if: ${{ github.ref == 'refs/heads/master' }}
  uses: 'google-github-actions/auth@v1'

.github/workflows/windows.yml

@@ -420,7 +420,9 @@ jobs:
  # no need to run on Windows
  runs-on: ubuntu-latest
  if: ${{ github.ref == 'refs/heads/master' }}
- needs: [build-wheel, windows]
+ # temp workaround for Windows CUDA Debug CI out of space. Still update docs.
+ # needs: [build-wheel, windows]
+ needs: [build-wheel]
  steps:
  - name: GCloud CLI auth
  uses: google-github-actions/auth@v1

3rdparty/cmake/FindTBB.cmake

@@ -0,0 +1,21 @@
+# Try to use pre-installed config
+find_package(TBB CONFIG)
+if(TARGET TBB::tbb)
+ set(TBB_FOUND TRUE)
+else()
+ message(STATUS "Target TBB::tbb not defined, falling back to manual detection")
+ find_path(TBB_INCLUDE_DIR tbb/tbb.h)
+ find_library(TBB_LIBRARY tbb)
+ if(TBB_INCLUDE_DIR AND TBB_LIBRARY)
+ message(STATUS "TBB found: ${TBB_LIBRARY}")
+ add_library(TBB::tbb UNKNOWN IMPORTED)
+ set_target_properties(TBB::tbb PROPERTIES
+ INTERFACE_INCLUDE_DIRECTORIES "${TBB_INCLUDE_DIR}"
+ IMPORTED_LOCATION "${TBB_LIBRARY}"
+ )
+ set(TBB_FOUND TRUE)
+ else()
+ set(TBB_FOUND FALSE)
+ endif()
+endif()
+

3rdparty/find_dependencies.cmake

@@ -269,7 +269,7 @@ endfunction()
 # If <pkg> also defines targets, use them instead and pass them via TARGETS option.
 #
 function(open3d_find_package_3rdparty_library name)
- cmake_parse_arguments(arg "PUBLIC;HEADER;REQUIRED;QUIET" "PACKAGE;PACKAGE_VERSION_VAR" "TARGETS;INCLUDE_DIRS;LIBRARIES" ${ARGN})
+ cmake_parse_arguments(arg "PUBLIC;HEADER;REQUIRED;QUIET" "PACKAGE;VERSION;PACKAGE_VERSION_VAR" "TARGETS;INCLUDE_DIRS;LIBRARIES" ${ARGN})
  if(arg_UNPARSED_ARGUMENTS)
  message(STATUS "Unparsed: ${arg_UNPARSED_ARGUMENTS}")
  message(FATAL_ERROR "Invalid syntax: open3d_find_package_3rdparty_library(${name} ${ARGN})")
@@ -281,6 +281,9 @@ function(open3d_find_package_3rdparty_library name)
  set(arg_PACKAGE_VERSION_VAR "${arg_PACKAGE}_VERSION")
  endif()
  set(find_package_args "")
+ if(arg_VERSION)
+ list(APPEND find_package_args "${arg_VERSION}")
+ endif()
  if(arg_REQUIRED)
  list(APPEND find_package_args "REQUIRED")
  endif()
@@ -539,11 +542,26 @@ endif()
 
 # cutlass
 if(BUILD_CUDA_MODULE)
- include(${Open3D_3RDPARTY_DIR}/cutlass/cutlass.cmake)
- open3d_import_3rdparty_library(3rdparty_cutlass
- INCLUDE_DIRS ${CUTLASS_INCLUDE_DIRS}
- DEPENDS ext_cutlass
- )
+ if(USE_SYSTEM_CUTLASS)
+ find_path(3rdparty_cutlass_INCLUDE_DIR NAMES cutlass/cutlass.h)
+ if(3rdparty_cutlass_INCLUDE_DIR)
+ add_library(3rdparty_cutlass INTERFACE)
+ target_include_directories(3rdparty_cutlass INTERFACE ${3rdparty_cutlass_INCLUDE_DIR})
+ add_library(Open3D::3rdparty_cutlass ALIAS 3rdparty_cutlass)
+ if(NOT BUILD_SHARED_LIBS)
+ install(TARGETS 3rdparty_cutlass EXPORT ${PROJECT_NAME}Targets)
+ endif()
+ else()
+ set(USE_SYSTEM_CUTLASS OFF)
+ endif()
+ endif()
+ if(NOT USE_SYSTEM_CUTLASS)
+ include(${Open3D_3RDPARTY_DIR}/cutlass/cutlass.cmake)
+ open3d_import_3rdparty_library(3rdparty_cutlass
+ INCLUDE_DIRS ${CUTLASS_INCLUDE_DIRS}
+ DEPENDS ext_cutlass
+ )
+ endif()
  list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_CUSTOM Open3D::3rdparty_cutlass)
 endif()
 
@@ -581,6 +599,7 @@ endif()
 if(USE_SYSTEM_NANOFLANN)
  open3d_find_package_3rdparty_library(3rdparty_nanoflann
  PACKAGE nanoflann
+ VERSION 1.5.0
  TARGETS nanoflann::nanoflann
  )
  if(NOT 3rdparty_nanoflann_FOUND)
@@ -1109,6 +1128,14 @@ open3d_import_3rdparty_library(3rdparty_poisson
 )
 list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_CUSTOM Open3D::3rdparty_poisson)
 
+# Minizip
+if(WITH_MINIZIP)
+ open3d_pkg_config_3rdparty_library(3rdparty_minizip
+ SEARCH_ARGS minizip
+ )
+ list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_SYSTEM Open3D::3rdparty_minizip)
+endif()
+
 # Googletest
 if (BUILD_UNIT_TESTS)
  if(USE_SYSTEM_GOOGLETEST)
@@ -1429,9 +1456,15 @@ endif()
 # msgpack
 if(USE_SYSTEM_MSGPACK)
  open3d_find_package_3rdparty_library(3rdparty_msgpack
- PACKAGE msgpack
- TARGETS msgpackc
+ PACKAGE msgpack-cxx
+ TARGETS msgpack-cxx
  )
+ if(NOT 3rdparty_msgpack_FOUND)
+ open3d_find_package_3rdparty_library(3rdparty_msgpack
+ PACKAGE msgpack
+ TARGETS msgpackc
+ )
+ endif()
  if(NOT 3rdparty_msgpack_FOUND)
  open3d_pkg_config_3rdparty_library(3rdparty_msgpack
  SEARCH_ARGS msgpack
@@ -1826,25 +1859,47 @@ endif ()
 
 # Stdgpu
 if (BUILD_CUDA_MODULE)
- include(${Open3D_3RDPARTY_DIR}/stdgpu/stdgpu.cmake)
- open3d_import_3rdparty_library(3rdparty_stdgpu
- INCLUDE_DIRS ${STDGPU_INCLUDE_DIRS}
- LIB_DIR ${STDGPU_LIB_DIR}
- LIBRARIES ${STDGPU_LIBRARIES}
- DEPENDS ext_stdgpu
- )
+ if(USE_SYSTEM_STDGPU)
+ open3d_find_package_3rdparty_library(3rdparty_stdgpu
+ PACKAGE stdgpu
+ TARGETS stdgpu::stdgpu
+ )
+ if(NOT 3rdparty_stdgpu_FOUND)
+ set(USE_SYSTEM_STDGPU OFF)
+ endif()
+ endif()
+ if(NOT USE_SYSTEM_STDGPU)
+ include(${Open3D_3RDPARTY_DIR}/stdgpu/stdgpu.cmake)
+ open3d_import_3rdparty_library(3rdparty_stdgpu
+ INCLUDE_DIRS ${STDGPU_INCLUDE_DIRS}
+ LIB_DIR ${STDGPU_LIB_DIR}
+ LIBRARIES ${STDGPU_LIBRARIES}
+ DEPENDS ext_stdgpu
+ )
+ endif()
  list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_CUSTOM Open3D::3rdparty_stdgpu)
 endif ()
 
 # embree
-include(${Open3D_3RDPARTY_DIR}/embree/embree.cmake)
-open3d_import_3rdparty_library(3rdparty_embree
- HIDDEN
- INCLUDE_DIRS ${EMBREE_INCLUDE_DIRS}
- LIB_DIR ${EMBREE_LIB_DIR}
- LIBRARIES ${EMBREE_LIBRARIES}
- DEPENDS ext_embree
-)
+if(USE_SYSTEM_EMBREE)
+ open3d_find_package_3rdparty_library(3rdparty_embree
+ PACKAGE embree
+ TARGETS embree
+ )
+ if(NOT 3rdparty_embree_FOUND)
+ set(USE_SYSTEM_EMBREE OFF)
+ endif()
+endif()
+if(NOT USE_SYSTEM_EMBREE)
+ include(${Open3D_3RDPARTY_DIR}/embree/embree.cmake)
+ open3d_import_3rdparty_library(3rdparty_embree
+ HIDDEN
+ INCLUDE_DIRS ${EMBREE_INCLUDE_DIRS}
+ LIB_DIR ${EMBREE_LIB_DIR}
+ LIBRARIES ${EMBREE_LIBRARIES}
+ DEPENDS ext_embree
+ )
+endif()
 list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_CUSTOM Open3D::3rdparty_embree)
 
 # WebRTC

3rdparty/fmt/fmt.cmake

@@ -2,9 +2,8 @@ include(ExternalProject)
 
 set(FMT_LIB_NAME fmt)
 
-if (MSVC AND MSVC_VERSION VERSION_LESS 1930 OR
- CMAKE_CXX_COMPILER_ID MATCHES "IntelLLVM")
- # MSVC 17.x required for building fmt >6
+if (MSVC OR CMAKE_CXX_COMPILER_ID MATCHES "IntelLLVM")
+ # MSVC has errors when building fmt >6, up till 9.1
  # SYCL / DPC++ needs fmt ver <=6 or >= 9.2: https://github.com/fmtlib/fmt/issues/3005
  set(FMT_VER "6.0.0")
  set(FMT_SHA256

3rdparty/nanoflann/nanoflann.cmake

@@ -3,8 +3,8 @@ include(ExternalProject)
 ExternalProject_Add(
  ext_nanoflann
  PREFIX nanoflann
- URL https://github.com/jlblancoc/nanoflann/archive/refs/tags/v1.3.2.tar.gz
- URL_HASH SHA256=e100b5fc8d72e9426a80312d852a62c05ddefd23f17cbb22ccd8b458b11d0bea
+ URL https://github.com/jlblancoc/nanoflann/archive/refs/tags/v1.5.0.tar.gz
+ URL_HASH SHA256=89aecfef1a956ccba7e40f24561846d064f309bc547cc184af7f4426e42f8e65
  DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/nanoflann"
  UPDATE_COMMAND ""
  CONFIGURE_COMMAND ""

3rdparty/possionrecon/possionrecon.cmake

@@ -3,8 +3,8 @@ include(ExternalProject)
 ExternalProject_Add(
  ext_poisson
  PREFIX poisson
- URL https://github.com/isl-org/Open3D-PoissonRecon/archive/fd273ea8c77a36973d6565a495c9969ccfb12d3b.tar.gz
- URL_HASH SHA256=917d98e037982d57a159fa166b259ff3dc90ffffe09c6a562a71b400f6869ddf
+ URL https://github.com/isl-org/Open3D-PoissonRecon/archive/90f3f064e275b275cff445881ecee5a7c495c9e0.tar.gz
+ URL_HASH SHA256=1310df0c80ff0616b8fcf9b2fb568aa9b2190d0e071b0ead47dba339c146b1d3
  DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/poisson"
  SOURCE_DIR "poisson/src/ext_poisson/PoissonRecon" # Add extra directory level for POISSON_INCLUDE_DIRS.
  UPDATE_COMMAND ""

CHANGELOG.md

@@ -1,9 +1,12 @@
 ## Master
 
+* Fix tensor based TSDF integration example.
+* Use GLIBCXX_USE_CXX11_ABI=ON by default
 * Python 3.9 support. Tensorflow bump 2.4.1 -> 2.5.0. PyTorch bump 1.7.1 -> 1.8.1 (LTS)
 * Fix undefined names: docstr and VisibleDeprecationWarning (PR #3844)
 * Corrected documentation for Tensor based PointClound, LineSet, TriangleMesh (PR #4685)
 * Corrected documentation for KDTree (typo in Notebook) (PR #4744)
+* Corrected documentation for visualisation tutorial
 * Remove `setuptools` and `wheel` from requirements for end users (PR #5020)
 * Fix various typos (PR #5070)
 * Exposed more functionality in SLAM and odometry pipelines
@@ -13,6 +16,8 @@
 * Fix Python bindings for CUDA device synchronization, voxel grid saving (PR #5425)
 * Support msgpack versions without cmake
 * 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
 
 ## 0.13
 

CMakeLists.txt

@@ -65,11 +65,7 @@ else()
  option(STATIC_WINDOWS_RUNTIME "Use static (MT/MTd) Windows runtime" ON )
 endif()
 option(BUILD_SYCL_MODULE "Build SYCL module with Intel oneAPI" OFF)
-if(BUILD_SYCL_MODULE)
- option(GLIBCXX_USE_CXX11_ABI "Set -D_GLIBCXX_USE_CXX11_ABI=1" ON )
-else()
- option(GLIBCXX_USE_CXX11_ABI "Set -D_GLIBCXX_USE_CXX11_ABI=1" OFF)
-endif()
+option(GLIBCXX_USE_CXX11_ABI "Set -D_GLIBCXX_USE_CXX11_ABI=1" ON )
 option(ENABLE_SYCL_UNIFIED_SHARED_MEMORY "Enable SYCL unified shared memory" OFF)
 if(BUILD_GUI AND (WIN32 OR UNIX AND NOT LINUX_AARCH64 AND NOT APPLE_AARCH64))
  option(BUILD_WEBRTC "Build WebRTC visualizer" ON )
@@ -91,7 +87,9 @@ else()
 endif()
 option(USE_SYSTEM_ASSIMP "Use system pre-installed assimp" OFF)
 option(USE_SYSTEM_CURL "Use system pre-installed curl" OFF)
+option(USE_SYSTEM_CUTLASS "Use system pre-installed cutlass" OFF)
 option(USE_SYSTEM_EIGEN3 "Use system pre-installed eigen3" OFF)
+option(USE_SYSTEM_EMBREE "Use system pre-installed Embree" OFF)
 option(USE_SYSTEM_FILAMENT "Use system pre-installed filament" OFF)
 option(USE_SYSTEM_FMT "Use system pre-installed fmt" OFF)
 option(USE_SYSTEM_GLEW "Use system pre-installed glew" OFF)
@@ -107,6 +105,7 @@ option(USE_SYSTEM_OPENSSL "Use system pre-installed OpenSSL" OFF
 option(USE_SYSTEM_PNG "Use system pre-installed png" OFF)
 option(USE_SYSTEM_PYBIND11 "Use system pre-installed pybind11" OFF)
 option(USE_SYSTEM_QHULLCPP "Use system pre-installed qhullcpp" OFF)
+option(USE_SYSTEM_STDGPU "Use system pre-installed stdgpu" OFF)
 option(USE_SYSTEM_TBB "Use system pre-installed TBB" OFF)
 option(USE_SYSTEM_TINYGLTF "Use system pre-installed tinygltf" OFF)
 option(USE_SYSTEM_TINYOBJLOADER "Use system pre-installed tinyobjloader" OFF)
@@ -121,6 +120,7 @@ else()
 endif()
 
 option(PREFER_OSX_HOMEBREW "Prefer Homebrew libs over frameworks" ON )
+option(WITH_MINIZIP "Enable MiniZIP" OFF)
 
 # Sensor options
 option(BUILD_LIBREALSENSE "Build support for Intel RealSense camera" OFF)

README.md

@@ -45,7 +45,7 @@ For more, please visit the [Open3D documentation](http://www.open3d.org/docs).
 ## Python quick start
 
 Pre-built pip packages support Ubuntu 18.04+, macOS 10.15+ and Windows 10+
-(64-bit) with Python 3.6-3.10.
+(64-bit) with Python 3.7-3.10.
 
 ```bash
 # Install
@@ -87,8 +87,8 @@ To use Open3D in your C++ project, checkout the following examples
 
 <img width="480" src="https://raw.githubusercontent.com/isl-org/Open3D/master/docs/_static/open3d_viewer.png">
 
-Open3D-Viewer is a standalone 3D viewer app available on Ubuntu and macOS.
-Please stay tuned for Windows. Download Open3D Viewer from the
+Open3D-Viewer is a standalone 3D viewer app available on Debian (Ubuntu), macOS
+and Windows. Download Open3D Viewer from the
 [release page](https://github.com/isl-org/Open3D/releases).
 
 ## Open3D-ML

cmake/Open3DPackaging.cmake

@@ -1,3 +1,6 @@
+# This is packaging for the Open3D library. See
+# cpp/apps/Open3DViewer/Debian/CMakeLists.txt for packaging the Debian Open3D
+# viewer
 set(CPACK_GENERATOR TXZ)
 if(WIN32)
  set(CPACK_GENERATOR ZIP)

cpp/apps/CMakeLists.txt

@@ -72,8 +72,17 @@ macro(open3d_add_app_gui SRC_DIR APP_NAME TARGET_NAME)
  RENAME "${APP_NAME}.xml")
  # Various caches need to be updated for the app to become visible
  install(CODE "execute_process(COMMAND ${SOURCE_DIR}/postinstall-linux.sh)")
+ configure_file("${SOURCE_DIR}/Debian/CMakeLists.in.txt"
+ "${CMAKE_BINARY_DIR}/package-${TARGET_NAME}-deb/CMakeLists.txt" @ONLY)
+ add_custom_target(package-${TARGET_NAME}-deb
+ COMMAND cp -a "${CMAKE_BINARY_DIR}/${APP_NAME}" .
+ COMMAND cp "${SOURCE_DIR}/icon.svg" "${APP_NAME}/${APP_NAME}.svg"
+ COMMAND cp "${SOURCE_DIR}/${TARGET_NAME}.xml" "${APP_NAME}/"
+ COMMAND "${CMAKE_COMMAND}" -S .
+ COMMAND "${CMAKE_COMMAND}" --build . -t package
+ WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/package-${TARGET_NAME}-deb/"
+ DEPENDS ${TARGET_NAME})
  elseif (WIN32)
- # Don't create a command window on launch
  target_sources(${TARGET_NAME} PRIVATE "${SOURCE_DIR}/icon.rc") # add icon
 
  # MSVC puts the binary in bin/Open3D/Release/Open3D.exe

cpp/apps/OfflineReconstruction/LegacyReconstructionUtil.h

@@ -1025,7 +1025,7 @@ class ReconstructionPipeline {
  Eigen::Matrix6d info;
  const size_t num_scale = voxel_size.size();
  for (size_t i = 0; i < num_scale; i++) {
- const double max_dis = config_["voxel_szie"].asDouble() * 1.4;
+ const double max_dis = config_["voxel_size"].asDouble() * 1.4;
  const auto src_down = src.VoxelDownSample(voxel_size[i]);
  const auto dst_down = dst.VoxelDownSample(voxel_size[i]);
  const pipelines::registration::ICPConvergenceCriteria criteria(

cpp/apps/Open3DViewer/Debian/CMakeLists.in.txt

@@ -0,0 +1,36 @@
+# Create Debian package
+cmake_minimum_required(VERSION 3.8.0)
+project("Open3D-Debian")
+
+message(STATUS "Building package for Debian")
+
+# Install assets
+install(DIRECTORY "Open3D"
+ DESTINATION share
+ USE_SOURCE_PERMISSIONS
+ PATTERN "Open3D/Open3D.svg" EXCLUDE
+ PATTERN "Open3D/Open3D.desktop" EXCLUDE
+ PATTERN "Open3D/Open3DViewer.xml" EXCLUDE
+ PATTERN "Open3D/Open3D" EXCLUDE
+ PATTERN "Open3D/CMakeLists.txt" EXCLUDE
+)
+install(FILES "Open3D/Open3D.desktop" DESTINATION /usr/share/applications)
+install(FILES "Open3D/Open3DViewer.xml" DESTINATION /usr/share/mime/packages)
+install(FILES "Open3D/Open3D.svg" DESTINATION /usr/share/icons/hicolor/scalable/apps)
+install(PROGRAMS "Open3D/Open3D" DESTINATION bin)
+
+# CPACK parameter
+set(CPACK_GENERATOR "DEB")
+set(CPACK_PACKAGE_NAME "open3d-viewer")
+set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Open3D Viewer for 3D files")
+set(CPACK_PACKAGE_CONTACT "Open3D team <@PROJECT_EMAIL@>")
+set(CPACK_DEBIAN_PACKAGE_SECTION "Graphics")
+set(CPACK_PACKAGE_VERSION "@OPEN3D_VERSION@")
+set(CPACK_DEBIAN_PACKAGE_DEPENDS "libc++1, libgomp1, libpng16-16, libglfw3")
+set(CPACK_PACKAGE_HOMEPAGE_URL "@PROJECT_HOMEPAGE_URL@")
+
+# How to set cpack prefix: https://stackoverflow.com/a/7363073/1255535
+set(CPACK_SET_DESTDIR true)
+set(CPACK_INSTALL_PREFIX /usr/local)
+
+include(CPack)