From 16719c37ae139608db7982615a014f0ebaa7f960 Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Tue, 13 Aug 2024 12:39:21 +0200
Subject: [PATCH 01/21] Adding typing stubs to python package using
 pybind11-stubgen.

---
 cpp/pybind/make_python_package.cmake | 5 +++++
 python/requirements_build.txt        | 1 +
 2 files changed, 6 insertions(+)

diff --git a/cpp/pybind/make_python_package.cmake b/cpp/pybind/make_python_package.cmake
index 01e0d5663f5..0c0a3ede2e3 100644
--- a/cpp/pybind/make_python_package.cmake
+++ b/cpp/pybind/make_python_package.cmake
@@ -136,3 +136,8 @@ file(COPY "${PYTHON_PACKAGE_SRC_DIR}/../examples/python/"
      DESTINATION "${PYTHON_PACKAGE_DST_DIR}/open3d/examples")
 file(COPY "${PYTHON_PACKAGE_SRC_DIR}/../examples/python/"
      DESTINATION "${PYTHON_PACKAGE_DST_DIR}/open3d/examples")
+
+# Generate typing stub files (.pyi)
+message(STATUS "Generating typing stubs...")
+message(STATUS "pybind11-stubgen open3d -o ${PYTHON_PACKAGE_DST_DIR}/stubs")
+execute_process(COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH="${PYTHON_PACKAGE_DST_DIR}" pybind11-stubgen open3d -o "${PYTHON_PACKAGE_DST_DIR}")
\ No newline at end of file
diff --git a/python/requirements_build.txt b/python/requirements_build.txt
index b9bb3b1f28a..9d8dc63cb4b 100644
--- a/python/requirements_build.txt
+++ b/python/requirements_build.txt
@@ -1,3 +1,4 @@
 setuptools>=67.3.2
 wheel==0.38.4
 yapf==0.30.0
+pybind11-stubgen==2.5.1
\ No newline at end of file

From 4739963309af974a9163468f26ddb30e84841aab Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Wed, 14 Aug 2024 23:12:33 +0200
Subject: [PATCH 02/21] Added py.typed marker file to python package.

---
 cpp/pybind/make_python_package.cmake | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/cpp/pybind/make_python_package.cmake b/cpp/pybind/make_python_package.cmake
index 0c0a3ede2e3..8ab69f78e2f 100644
--- a/cpp/pybind/make_python_package.cmake
+++ b/cpp/pybind/make_python_package.cmake
@@ -137,7 +137,8 @@ file(COPY "${PYTHON_PACKAGE_SRC_DIR}/../examples/python/"
 file(COPY "${PYTHON_PACKAGE_SRC_DIR}/../examples/python/"
      DESTINATION "${PYTHON_PACKAGE_DST_DIR}/open3d/examples")
 
-# Generate typing stub files (.pyi)
+# Generate typing stub files (.pyi) and py.typed marker file.
 message(STATUS "Generating typing stubs...")
 message(STATUS "pybind11-stubgen open3d -o ${PYTHON_PACKAGE_DST_DIR}/stubs")
-execute_process(COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH="${PYTHON_PACKAGE_DST_DIR}" pybind11-stubgen open3d -o "${PYTHON_PACKAGE_DST_DIR}")
\ No newline at end of file
+execute_process(COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH="${PYTHON_PACKAGE_DST_DIR}" pybind11-stubgen open3d -o "${PYTHON_PACKAGE_DST_DIR}")
+file(WRITE "${PYTHON_PACKAGE_DST_DIR}/open3d/py.typed")

From 6c26d61775d21a08c2cdb85d8da687e6cb2170c5 Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Thu, 15 Aug 2024 11:54:02 +0200
Subject: [PATCH 03/21] Added IGNORE_STUBGEN_ERRORS cmake option.

---
 CMakeLists.txt                       | 1 +
 cpp/pybind/CMakeLists.txt            | 1 +
 cpp/pybind/make_python_package.cmake | 8 +++++++-
 3 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e1bd4706288..1908c41f9ff 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -39,6 +39,7 @@ option(BUILD_EXAMPLES             "Build Open3D examples programs"           ON
 option(BUILD_UNIT_TESTS           "Build Open3D unit tests"                  OFF)
 option(BUILD_BENCHMARKS           "Build the micro benchmarks"               OFF)
 option(BUILD_PYTHON_MODULE        "Build the python module"                  ON )
+option(IGNORE_STUBGEN_ERRORS      "Ignore all errors during stub generation" ON )
 option(BUILD_CUDA_MODULE          "Build the CUDA module"                    OFF)
 option(BUILD_WITH_CUDA_STATIC     "Build with static CUDA libraries"         ON )
 option(BUILD_COMMON_CUDA_ARCHS    "Build for common CUDA GPUs (for release)" OFF)
diff --git a/cpp/pybind/CMakeLists.txt b/cpp/pybind/CMakeLists.txt
index 6efae9a17fd..b0be33798f9 100644
--- a/cpp/pybind/CMakeLists.txt
+++ b/cpp/pybind/CMakeLists.txt
@@ -226,6 +226,7 @@ add_custom_target(python-package
             -DPYTHON_VERSION=${PYTHON_VERSION}
             "-DCOMPILED_MODULE_PATH_LIST=${COMPILED_MODULE_PATH_LIST}"
             "-DPYTHON_EXTRA_LIBRARIES=${PYTHON_EXTRA_LIBRARIES}"
+            -DIGNORE_STUBGEN_ERRORS=${IGNORE_STUBGEN_ERRORS}
             -DBUILD_JUPYTER_EXTENSION=${BUILD_JUPYTER_EXTENSION}
             -DBUILD_TENSORFLOW_OPS=${BUILD_TENSORFLOW_OPS}
             -DBUILD_PYTORCH_OPS=${BUILD_PYTORCH_OPS}
diff --git a/cpp/pybind/make_python_package.cmake b/cpp/pybind/make_python_package.cmake
index 8ab69f78e2f..e702f75ce9a 100644
--- a/cpp/pybind/make_python_package.cmake
+++ b/cpp/pybind/make_python_package.cmake
@@ -138,7 +138,13 @@ file(COPY "${PYTHON_PACKAGE_SRC_DIR}/../examples/python/"
      DESTINATION "${PYTHON_PACKAGE_DST_DIR}/open3d/examples")
 
 # Generate typing stub files (.pyi) and py.typed marker file.
+if(NOT IGNORE_STUBGEN_ERRORS)
+    list(APPEND PYBIND11_STUBGEN_FLAGS "--exit-code")
+endif()
 message(STATUS "Generating typing stubs...")
 message(STATUS "pybind11-stubgen open3d -o ${PYTHON_PACKAGE_DST_DIR}/stubs")
-execute_process(COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH="${PYTHON_PACKAGE_DST_DIR}" pybind11-stubgen open3d -o "${PYTHON_PACKAGE_DST_DIR}")
+execute_process(
+    COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH="${PYTHON_PACKAGE_DST_DIR}" pybind11-stubgen open3d -o "${PYTHON_PACKAGE_DST_DIR}" ${PYBIND11_STUBGEN_FLAGS}
+    COMMAND_ERROR_IS_FATAL ANY
+)
 file(WRITE "${PYTHON_PACKAGE_DST_DIR}/open3d/py.typed")

From ee90f58d64c1dd895faa5fed33e3c507cf2a50b5 Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Thu, 15 Aug 2024 11:55:46 +0200
Subject: [PATCH 04/21] Added changelog entry.

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index ad1f4f43b17..8c71e011c0c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -55,6 +55,7 @@
 -   Fix render to depth image on Apple Retina displays (PR #7001)
 -   Fix infinite loop in segment_plane if num_points < ransac_n (PR #7032)
 -   Add select_by_index method to Feature class (PR #7039)
+-   Include typing stubs in python package (PR #6917)
 
 
 ## 0.13

From dbfe46ac8b996c8a7252cd2d51284f3ec90ed61a Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Thu, 15 Aug 2024 12:20:11 +0200
Subject: [PATCH 05/21] Removed message intended for debugging.

---
 cpp/pybind/make_python_package.cmake | 1 -
 1 file changed, 1 deletion(-)

diff --git a/cpp/pybind/make_python_package.cmake b/cpp/pybind/make_python_package.cmake
index e702f75ce9a..8e0b4601860 100644
--- a/cpp/pybind/make_python_package.cmake
+++ b/cpp/pybind/make_python_package.cmake
@@ -142,7 +142,6 @@ if(NOT IGNORE_STUBGEN_ERRORS)
     list(APPEND PYBIND11_STUBGEN_FLAGS "--exit-code")
 endif()
 message(STATUS "Generating typing stubs...")
-message(STATUS "pybind11-stubgen open3d -o ${PYTHON_PACKAGE_DST_DIR}/stubs")
 execute_process(
     COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH="${PYTHON_PACKAGE_DST_DIR}" pybind11-stubgen open3d -o "${PYTHON_PACKAGE_DST_DIR}" ${PYBIND11_STUBGEN_FLAGS}
     COMMAND_ERROR_IS_FATAL ANY

From 138f3dde04403ab0383e8a3ff2c97eaa05baede3 Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Thu, 15 Aug 2024 13:15:26 +0200
Subject: [PATCH 06/21] Added COMMAND_ECHO to execute_process for CI debugging.

---
 cpp/pybind/make_python_package.cmake | 1 +
 1 file changed, 1 insertion(+)

diff --git a/cpp/pybind/make_python_package.cmake b/cpp/pybind/make_python_package.cmake
index 8e0b4601860..a5f7e8a5ed6 100644
--- a/cpp/pybind/make_python_package.cmake
+++ b/cpp/pybind/make_python_package.cmake
@@ -144,6 +144,7 @@ endif()
 message(STATUS "Generating typing stubs...")
 execute_process(
     COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH="${PYTHON_PACKAGE_DST_DIR}" pybind11-stubgen open3d -o "${PYTHON_PACKAGE_DST_DIR}" ${PYBIND11_STUBGEN_FLAGS}
+    COMMAND_ECHO STDOUT
     COMMAND_ERROR_IS_FATAL ANY
 )
 file(WRITE "${PYTHON_PACKAGE_DST_DIR}/open3d/py.typed")

From 2620894424ce3a0005912afc603e421f9267ee25 Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Thu, 15 Aug 2024 14:37:36 +0200
Subject: [PATCH 07/21] Changed CI to use requirements_build.txt.

---
 .github/workflows/windows.yml | 20 +++++++-------------
 util/ci_utils.sh              | 22 ++++++++--------------
 2 files changed, 15 insertions(+), 27 deletions(-)

diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index 04a408802d0..67852eab2b0 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -21,8 +21,6 @@ concurrency:
 
 env:
   PIP_VER: "23.2.1"
-  WHEEL_VER: "0.38.4"
-  STOOLS_VER: "67.3.2"
   JEDI_VER: "0.17.2"  # https://github.com/ipython/ipython/issues/12740
   IDNA_VER: "2.8"  # https://github.com/psf/requests/issues/5710
   CUDA_VERSION: "12.1.0"
@@ -217,11 +215,9 @@ jobs:
         working-directory: ${{ env.BUILD_DIR }}
         run: |
           $ErrorActionPreference = 'Stop'
-          python -m pip install --upgrade pip==${{ env.PIP_VER }} `
-            wheel==${{ env.WHEEL_VER }} `
-            setuptools==${{ env.STOOLS_VER }} `
-            jedi==${{ env.JEDI_VER }} `
-            idna==${{ env.IDNA_VER }}
+          python -m pip install -U pip==${{ env.PIP_VER }}
+          python -m pip install -U -r python/requirements_build.txt
+          python -m pip install -U jedi==${{ env.JEDI_VER }} idna==${{ env.IDNA_VER }}
           cmake --build . --config ${{ matrix.CONFIG }} --target install-pip-package
       - name: Import python package
         # If BUILD_SHARED_LIBS == ON, Open3D.dll needs to be copied, which is not recommended for python.
@@ -300,9 +296,8 @@ jobs:
         working-directory: ${{ env.BUILD_DIR }}
         run: |
           $ErrorActionPreference = 'Stop'
-          python -m pip install --upgrade pip==${{ env.PIP_VER }} `
-                                          wheel==${{ env.WHEEL_VER }} `
-                                          setuptools==${{ env.STOOLS_VER }}
+          python -m pip install -U pip==${{ env.PIP_VER }}
+          python -m pip install -U -r python/requirements_build.txt
           cmake --build . --parallel ${{ env.NPROC }} --config Release --target pip-package
           $PIP_PKG_NAME=(Get-ChildItem lib/python_package/pip_package/open3d*.whl).Name
           echo "PIP_PKG_NAME=$PIP_PKG_NAME"  | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
@@ -366,9 +361,8 @@ jobs:
           python -m venv open3d_test_venv
           open3d_test_venv\Scripts\Activate.ps1
 
-          python -m pip install --upgrade pip==${{ env.PIP_VER }} `
-            wheel==${{ env.WHEEL_VER }} `
-            setuptools==${{ env.STOOLS_VER }}
+          python -m pip install -U pip==${{ env.PIP_VER }}
+          python -m pip install -U -r python/requirements_build.txt
           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") {
diff --git a/util/ci_utils.sh b/util/ci_utils.sh
index 1adb4b7d8c5..8c8f4217361 100644
--- a/util/ci_utils.sh
+++ b/util/ci_utils.sh
@@ -30,9 +30,6 @@ TORCH_VER="2.2.2"
 TORCH_REPO_URL="https://download.pytorch.org/whl/torch/"
 # Python
 PIP_VER="23.2.1"
-WHEEL_VER="0.38.4"
-STOOLS_VER="67.3.2"
-YAPF_VER="0.30.0"
 PROTOBUF_VER="4.24.0"
 
 OPEN3D_INSTALL_DIR=~/open3d_install
@@ -42,10 +39,10 @@ install_python_dependencies() {
 
     echo "Installing Python dependencies"
     options="$(echo "$@" | tr ' ' '|')"
-    python -m pip install --upgrade pip=="$PIP_VER" wheel=="$WHEEL_VER" \
-        setuptools=="$STOOLS_VER"
+    python -m pip install --upgrade pip=="$PIP_VER"
+    python -m pip install -U -r "${OPEN3D_SOURCE_ROOT}/python/requirements_build.txt"
     if [[ "with-unit-test" =~ ^($options)$ ]]; then
-        python -m pip install -U -r python/requirements_test.txt
+        python -m pip install -U -r "${OPEN3D_SOURCE_ROOT}/python/requirements_test.txt"
     fi
     if [[ "with-cuda" =~ ^($options)$ ]]; then
         TF_ARCH_NAME=tensorflow
@@ -64,7 +61,6 @@ install_python_dependencies() {
         TORCH_GLNX="torch==${TORCH_VER}+cpu"
     fi
 
-    # TODO: modify other locations to use requirements.txt
     python -m pip install -r "${OPEN3D_SOURCE_ROOT}/python/requirements.txt"
     if [[ "with-jupyter" =~ ^($options)$ ]]; then
         python -m pip install -r "${OPEN3D_SOURCE_ROOT}/python/requirements_jupyter_build.txt"
@@ -88,7 +84,6 @@ install_python_dependencies() {
         fi
     fi
     if [ "$BUILD_TENSORFLOW_OPS" == "ON" ] || [ "$BUILD_PYTORCH_OPS" == "ON" ]; then
-        python -m pip install -U yapf=="$YAPF_VER"
         # Fix Protobuf compatibility issue
         # https://stackoverflow.com/a/72493690/1255535
         # https://github.com/protocolbuffers/protobuf/issues/10051
@@ -241,8 +236,8 @@ test_wheel() {
     python -m venv open3d_test.venv
     # shellcheck disable=SC1091
     source open3d_test.venv/bin/activate
-    python -m pip install --upgrade pip=="$PIP_VER" wheel=="$WHEEL_VER" \
-        setuptools=="$STOOLS_VER"
+    python -m pip install -U pip=="$PIP_VER"
+    python -m pip install -U -r "${OPEN3D_SOURCE_ROOT}/python/requirements_build.txt"
     echo -n "Using python: $(command -v python)"
     python --version
     echo -n "Using pip: "
@@ -285,7 +280,7 @@ test_wheel() {
 run_python_tests() {
     # shellcheck disable=SC1091
     source open3d_test.venv/bin/activate
-    python -m pip install -U -r python/requirements_test.txt
+    python -m pip install -U -r "${OPEN3D_SOURCE_ROOT}/python/requirements_test.txt"
     echo Add --randomly-seed=SEED to the test command to reproduce test order.
     pytest_args=("$OPEN3D_SOURCE_ROOT"/python/test/)
     if [ "$BUILD_PYTORCH_OPS" == "OFF" ] && [ "$BUILD_TENSORFLOW_OPS" == "OFF" ]; then
@@ -356,9 +351,8 @@ install_docs_dependencies() {
     echo Install Python dependencies for building docs
     command -v python
     python -V
-    python -m pip install -U -q "wheel==$WHEEL_VER" \
-        "pip==$PIP_VER"
-    python -m pip install -U -q "yapf==$YAPF_VER"
+    python -m pip install -U -q "pip==$PIP_VER"
+    python -m pip install -U -r "${OPEN3D_SOURCE_ROOT}/python/requirements_build.txt"
     if [[ -d "$1" ]]; then
         OPEN3D_ML_ROOT="$1"
         echo Installing Open3D-ML dependencies from "${OPEN3D_ML_ROOT}"

From c10dee27506ff73e0c9074cc95c1250cf6734051 Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Thu, 15 Aug 2024 14:56:28 +0200
Subject: [PATCH 08/21] Updated pyproject.toml build-system requirements.

---
 python/pyproject.toml | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/python/pyproject.toml b/python/pyproject.toml
index 3d229011876..f65c9888bcb 100644
--- a/python/pyproject.toml
+++ b/python/pyproject.toml
@@ -1,3 +1,12 @@
 [build-system]
-requires = ["ipywidgets>=8.0.3", "pygments>=2.7.4", "jupyter_packaging~=0.12", "jupyterlab>=3.0.0,==3.*", "setuptools>=50.3.2", "wheel==0.38.4"]
+requires = [
+    "ipywidgets>=8.0.4",
+    "pygments>=2.7.4",
+    "jupyter_packaging~=0.12",
+    "jupyterlab>=3.0.0,==3.*",
+    "setuptools>=67.3.2",
+    "wheel==0.38.4",
+    "yapf==0.30.0",
+    "pybind11-stubgen==2.5.1",
+]
 build-backend = "setuptools.build_meta"

From babbff0ba6e8f6248d0ae9d4d6460a3c34ead7c0 Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Thu, 15 Aug 2024 14:57:02 +0200
Subject: [PATCH 09/21] Changed style check workflow to use
 requirements_style.txt.

---
 .github/workflows/style.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/style.yml b/.github/workflows/style.yml
index 043cb0c7b97..9871c13eed3 100644
--- a/.github/workflows/style.yml
+++ b/.github/workflows/style.yml
@@ -27,7 +27,7 @@ jobs:
           python-version: '3.8'
       - name: Install dependencies
         run: |
-          pip install -U clang-format~=10.0.0 yapf==0.30.0 nbformat
+          pip install -U -r python/requirements_style.txt
       - name: Run style check
         run: |
           python util/check_style.py

From 2674d5b3ba1149d2c22df2ebeeae8bfb9ec46290 Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Thu, 15 Aug 2024 15:29:36 +0200
Subject: [PATCH 10/21] Added missing copy of requirements_build.txt to docker.

---
 docker/Dockerfile.wheel | 1 +
 1 file changed, 1 insertion(+)

diff --git a/docker/Dockerfile.wheel b/docker/Dockerfile.wheel
index eb60286b620..e9f688f4ab9 100644
--- a/docker/Dockerfile.wheel
+++ b/docker/Dockerfile.wheel
@@ -109,6 +109,7 @@ RUN /root/Open3D/util/install_deps_ubuntu.sh assume-yes \
 # Open3D Python dependencies
 COPY ./util/ci_utils.sh /root/Open3D/util/
 COPY ./python/requirements.txt /root/Open3D/python/
+COPY ./python/requirements_build.txt /root/Open3D/python/
 COPY ./python/requirements_jupyter_build.txt /root/Open3D/python/
 COPY ./python/requirements_jupyter_install.txt /root/Open3D/python/
 RUN source /root/Open3D/util/ci_utils.sh \

From cabef3c125c804605444b2b6153bb08235504a0e Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Thu, 15 Aug 2024 15:50:53 +0200
Subject: [PATCH 11/21] Removed "" from execute_process args to fix build
 error.

---
 cpp/pybind/make_python_package.cmake | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cpp/pybind/make_python_package.cmake b/cpp/pybind/make_python_package.cmake
index a5f7e8a5ed6..85018619396 100644
--- a/cpp/pybind/make_python_package.cmake
+++ b/cpp/pybind/make_python_package.cmake
@@ -143,7 +143,7 @@ if(NOT IGNORE_STUBGEN_ERRORS)
 endif()
 message(STATUS "Generating typing stubs...")
 execute_process(
-    COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH="${PYTHON_PACKAGE_DST_DIR}" pybind11-stubgen open3d -o "${PYTHON_PACKAGE_DST_DIR}" ${PYBIND11_STUBGEN_FLAGS}
+    COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${PYTHON_PACKAGE_DST_DIR} pybind11-stubgen open3d -o ${PYTHON_PACKAGE_DST_DIR} ${PYBIND11_STUBGEN_FLAGS}
     COMMAND_ECHO STDOUT
     COMMAND_ERROR_IS_FATAL ANY
 )

From 1abe058e7161d304dc6a780bff16557741b7975a Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Thu, 15 Aug 2024 23:58:40 +0200
Subject: [PATCH 12/21] Install open3d-ml dependencies for docker wheel build
 for stubgen.

---
 docker/Dockerfile.wheel | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/docker/Dockerfile.wheel b/docker/Dockerfile.wheel
index e9f688f4ab9..edf30a1015c 100644
--- a/docker/Dockerfile.wheel
+++ b/docker/Dockerfile.wheel
@@ -115,6 +115,9 @@ COPY ./python/requirements_jupyter_install.txt /root/Open3D/python/
 RUN source /root/Open3D/util/ci_utils.sh \
  && install_python_dependencies with-jupyter
 
+# Open3D-ML Python dependencies
+RUN python -m pip install -r "${OPEN3D_ML_ROOT}/requirements.txt"
+
 # Open3D Jupyter dependencies
 RUN curl -fsSL https://deb.nodesource.com/setup_16.x | bash - \
  && apt-get install -y nodejs \

From 026aa0fab37d626b91e6ccbfb7f2545ce328765b Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Fri, 16 Aug 2024 01:20:32 +0200
Subject: [PATCH 13/21] Fixed wrong working dir in windows workflow.

---
 .github/workflows/windows.yml | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index 67852eab2b0..a45d8b90eec 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -211,13 +211,17 @@ jobs:
           cmake --build . --config ${{ matrix.CONFIG }}
           .\${{ matrix.CONFIG }}\Draw.exe --skip-for-unit-test
           Remove-Item "C:\Program Files\Open3D" -Recurse
-      - name: Install Python package
-        working-directory: ${{ env.BUILD_DIR }}
+      - name: Install Open3D python requirements
+        working-directory: ${{ env.SOURCE_DIR }}
         run: |
           $ErrorActionPreference = 'Stop'
           python -m pip install -U pip==${{ env.PIP_VER }}
           python -m pip install -U -r python/requirements_build.txt
           python -m pip install -U jedi==${{ env.JEDI_VER }} idna==${{ env.IDNA_VER }}
+      - name: Install Python package
+        working-directory: ${{ env.BUILD_DIR }}
+        run: |
+          $ErrorActionPreference = 'Stop'
           cmake --build . --config ${{ matrix.CONFIG }} --target install-pip-package
       - name: Import python package
         # If BUILD_SHARED_LIBS == ON, Open3D.dll needs to be copied, which is not recommended for python.
@@ -268,7 +272,9 @@ jobs:
         working-directory: ${{ env.SRC_DIR }}
         run: |
           $ErrorActionPreference = 'Stop'
+          python -m pip install -U pip==${{ env.PIP_VER }}
           python -m pip install -r python/requirements.txt
+          python -m pip install -r python/requirements_build.txt
           python -m pip install -r python/requirements_jupyter_build.txt
 
       - name: Config
@@ -296,8 +302,6 @@ jobs:
         working-directory: ${{ env.BUILD_DIR }}
         run: |
           $ErrorActionPreference = 'Stop'
-          python -m pip install -U pip==${{ env.PIP_VER }}
-          python -m pip install -U -r python/requirements_build.txt
           cmake --build . --parallel ${{ env.NPROC }} --config Release --target pip-package
           $PIP_PKG_NAME=(Get-ChildItem lib/python_package/pip_package/open3d*.whl).Name
           echo "PIP_PKG_NAME=$PIP_PKG_NAME"  | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append

From acae49a8ee551069b4447c9d49a23956771e2684 Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Fri, 16 Aug 2024 02:13:40 +0200
Subject: [PATCH 14/21] Added install step in MacOS Build wheel for o3d-ml
 requirements.

---
 .github/workflows/macos.yml | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
index a184df2ec42..fafb45431f4 100644
--- a/.github/workflows/macos.yml
+++ b/.github/workflows/macos.yml
@@ -269,6 +269,11 @@ jobs:
           brew install ccache
           ccache -M 2G  # See .github/workflows/readme.md for ccache strategy.
 
+      - name: Install Open3D-ML Python dependencies
+        working-directory: ${{ env.OPEN3D_ML_ROOT }}
+        run: |
+          python -m pip install -r requirements.txt
+
       - name: Config and build wheel
         run: |
           PATH=/usr/local/var/homebrew/linked/ccache/libexec:$PATH

From 89c482b25059122f059d57555313bbbbff36d2c7 Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Fri, 16 Aug 2024 02:38:51 +0200
Subject: [PATCH 15/21] Added missing install of requirements.txt in windows
 workflow.

---
 .github/workflows/windows.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index a45d8b90eec..44e10428903 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -217,6 +217,7 @@ jobs:
           $ErrorActionPreference = 'Stop'
           python -m pip install -U pip==${{ env.PIP_VER }}
           python -m pip install -U -r python/requirements_build.txt
+          python -m pip install -U -r python/requirements.txt
           python -m pip install -U jedi==${{ env.JEDI_VER }} idna==${{ env.IDNA_VER }}
       - name: Install Python package
         working-directory: ${{ env.BUILD_DIR }}

From 8ed61cf1067b5d001356821a200659228549f0b7 Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Fri, 16 Aug 2024 15:34:11 +0200
Subject: [PATCH 16/21] Added WITH_STUBGEN cmake flag to toogle typing stub
 generation.

---
 CMakeLists.txt                       |  1 +
 cpp/pybind/CMakeLists.txt            |  1 +
 cpp/pybind/make_python_package.cmake | 20 +++++++++++---------
 3 files changed, 13 insertions(+), 9 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1908c41f9ff..2433ecee515 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -39,6 +39,7 @@ option(BUILD_EXAMPLES             "Build Open3D examples programs"           ON
 option(BUILD_UNIT_TESTS           "Build Open3D unit tests"                  OFF)
 option(BUILD_BENCHMARKS           "Build the micro benchmarks"               OFF)
 option(BUILD_PYTHON_MODULE        "Build the python module"                  ON )
+option(WITH_STUBGEN               "Use pybind11-stubgen to generate stubs"   ON )
 option(IGNORE_STUBGEN_ERRORS      "Ignore all errors during stub generation" ON )
 option(BUILD_CUDA_MODULE          "Build the CUDA module"                    OFF)
 option(BUILD_WITH_CUDA_STATIC     "Build with static CUDA libraries"         ON )
diff --git a/cpp/pybind/CMakeLists.txt b/cpp/pybind/CMakeLists.txt
index b0be33798f9..b569119835a 100644
--- a/cpp/pybind/CMakeLists.txt
+++ b/cpp/pybind/CMakeLists.txt
@@ -226,6 +226,7 @@ add_custom_target(python-package
             -DPYTHON_VERSION=${PYTHON_VERSION}
             "-DCOMPILED_MODULE_PATH_LIST=${COMPILED_MODULE_PATH_LIST}"
             "-DPYTHON_EXTRA_LIBRARIES=${PYTHON_EXTRA_LIBRARIES}"
+            -DWITH_STUBGEN=${WITH_STUBGEN}
             -DIGNORE_STUBGEN_ERRORS=${IGNORE_STUBGEN_ERRORS}
             -DBUILD_JUPYTER_EXTENSION=${BUILD_JUPYTER_EXTENSION}
             -DBUILD_TENSORFLOW_OPS=${BUILD_TENSORFLOW_OPS}
diff --git a/cpp/pybind/make_python_package.cmake b/cpp/pybind/make_python_package.cmake
index 85018619396..d1b38659770 100644
--- a/cpp/pybind/make_python_package.cmake
+++ b/cpp/pybind/make_python_package.cmake
@@ -138,13 +138,15 @@ file(COPY "${PYTHON_PACKAGE_SRC_DIR}/../examples/python/"
      DESTINATION "${PYTHON_PACKAGE_DST_DIR}/open3d/examples")
 
 # Generate typing stub files (.pyi) and py.typed marker file.
-if(NOT IGNORE_STUBGEN_ERRORS)
-    list(APPEND PYBIND11_STUBGEN_FLAGS "--exit-code")
+if(WITH_STUBGEN)
+    if(NOT IGNORE_STUBGEN_ERRORS)
+        list(APPEND PYBIND11_STUBGEN_FLAGS "--exit-code")
+    endif()
+    message(STATUS "Generating typing stubs...")
+    execute_process(
+        COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${PYTHON_PACKAGE_DST_DIR} pybind11-stubgen open3d -o ${PYTHON_PACKAGE_DST_DIR} ${PYBIND11_STUBGEN_FLAGS}
+        COMMAND_ECHO STDOUT
+        COMMAND_ERROR_IS_FATAL ANY
+    )
+    file(WRITE "${PYTHON_PACKAGE_DST_DIR}/open3d/py.typed")
 endif()
-message(STATUS "Generating typing stubs...")
-execute_process(
-    COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${PYTHON_PACKAGE_DST_DIR} pybind11-stubgen open3d -o ${PYTHON_PACKAGE_DST_DIR} ${PYBIND11_STUBGEN_FLAGS}
-    COMMAND_ECHO STDOUT
-    COMMAND_ERROR_IS_FATAL ANY
-)
-file(WRITE "${PYTHON_PACKAGE_DST_DIR}/open3d/py.typed")

From be32c1bbddd9e38d9040508627f2363b552224c4 Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Fri, 16 Aug 2024 15:34:50 +0200
Subject: [PATCH 17/21] Added WITH_STUBGEN and IGNORE_STUBGEN_ERRORS to cmake
 config summary.

---
 cmake/Open3DPrintConfigurationSummary.cmake | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/cmake/Open3DPrintConfigurationSummary.cmake b/cmake/Open3DPrintConfigurationSummary.cmake
index 3e3d42da11e..bd4cfc700bc 100644
--- a/cmake/Open3DPrintConfigurationSummary.cmake
+++ b/cmake/Open3DPrintConfigurationSummary.cmake
@@ -37,6 +37,10 @@ function(open3d_print_configuration_summary)
     open3d_aligned_print("Build Unit Tests" "${BUILD_UNIT_TESTS}")
     open3d_aligned_print("Build Examples" "${BUILD_EXAMPLES}")
     open3d_aligned_print("Build Python Module" "${BUILD_PYTHON_MODULE}")
+    open3d_aligned_print("Generate Typing Stubs" "${WITH_STUBGEN}")
+    if(WITH_STUBGEN)
+        open3d_aligned_print("Ignore All Stubgen Errors" "${IGNORE_STUBGEN_ERRORS}")
+    endif()
     open3d_aligned_print("Build Jupyter Extension" "${BUILD_JUPYTER_EXTENSION}")
     open3d_aligned_print("Build TensorFlow Ops" "${BUILD_TENSORFLOW_OPS}")
     open3d_aligned_print("Build PyTorch Ops" "${BUILD_PYTORCH_OPS}")

From d44139f2447a1226010e053cd3feb1a8a5366a4d Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Fri, 16 Aug 2024 15:36:15 +0200
Subject: [PATCH 18/21] Disable stubgen for windows shared libs workflows.

---
 .github/workflows/windows.yml | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index 44e10428903..cb5154c148b 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -48,6 +48,7 @@ jobs:
           - BUILD_CUDA_MODULE: ON
     env:
       BUILD_WEBRTC: ${{ ( matrix.BUILD_SHARED_LIBS == 'OFF' && matrix.STATIC_RUNTIME == 'ON' ) && 'ON' || 'OFF' }}
+      WITH_STUBGEN: ${{ ( matrix.BUILD_SHARED_LIBS == 'ON' ) && 'OFF' || 'ON' }}
 
     steps:
       - name: Disk space used
@@ -121,6 +122,7 @@ jobs:
             -DBUILD_WEBRTC=${{ env.BUILD_WEBRTC }} `
             -DBUILD_UNIT_TESTS=ON `
             -DBUILD_CUDA_MODULE=${{ matrix.BUILD_CUDA_MODULE }} `
+            -DWITH_STUBGEN=${{ matrix.WITH_STUBGEN }} `
             ${{ env.SRC_DIR }}
 
       - name: Build
@@ -211,14 +213,19 @@ jobs:
           cmake --build . --config ${{ matrix.CONFIG }}
           .\${{ matrix.CONFIG }}\Draw.exe --skip-for-unit-test
           Remove-Item "C:\Program Files\Open3D" -Recurse
-      - name: Install Open3D python requirements
+      - name: Install Open3D python build requirements
         working-directory: ${{ env.SOURCE_DIR }}
         run: |
           $ErrorActionPreference = 'Stop'
           python -m pip install -U pip==${{ env.PIP_VER }}
           python -m pip install -U -r python/requirements_build.txt
-          python -m pip install -U -r python/requirements.txt
           python -m pip install -U jedi==${{ env.JEDI_VER }} idna==${{ env.IDNA_VER }}
+      - name: Install Open3D python requirements for stubgen
+        working-directory: ${{ env.SOURCE_DIR }}
+        if: ${{ matrix.WITH_STUBGEN == 'ON' }}
+        run: |
+          $ErrorActionPreference = 'Stop'
+          python -m pip install -U -r python/requirements.txt
       - name: Install Python package
         working-directory: ${{ env.BUILD_DIR }}
         run: |

From 6a4e6d23b7a20afb7d8f5c3684e7e7dd09a3805d Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Fri, 16 Aug 2024 17:40:57 +0200
Subject: [PATCH 19/21] Disabled stubgen for windows cuda checks and fixed
 WITH_STUBGEN typo.

---
 .github/workflows/windows.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index cb5154c148b..cb4e76f2960 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -48,7 +48,7 @@ jobs:
           - BUILD_CUDA_MODULE: ON
     env:
       BUILD_WEBRTC: ${{ ( matrix.BUILD_SHARED_LIBS == 'OFF' && matrix.STATIC_RUNTIME == 'ON' ) && 'ON' || 'OFF' }}
-      WITH_STUBGEN: ${{ ( matrix.BUILD_SHARED_LIBS == 'ON' ) && 'OFF' || 'ON' }}
+      WITH_STUBGEN: ${{ ( matrix.BUILD_SHARED_LIBS == 'ON' || matrix.BUILD_CUDA_MODULE == 'ON' ) && 'OFF' || 'ON' }}
 
     steps:
       - name: Disk space used
@@ -122,7 +122,7 @@ jobs:
             -DBUILD_WEBRTC=${{ env.BUILD_WEBRTC }} `
             -DBUILD_UNIT_TESTS=ON `
             -DBUILD_CUDA_MODULE=${{ matrix.BUILD_CUDA_MODULE }} `
-            -DWITH_STUBGEN=${{ matrix.WITH_STUBGEN }} `
+            -DWITH_STUBGEN=${{ env.WITH_STUBGEN }} `
             ${{ env.SRC_DIR }}
 
       - name: Build

From c9fe4f0771ece1c26abfcfba6f5a28c98b7e8c49 Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Fri, 16 Aug 2024 19:03:51 +0200
Subject: [PATCH 20/21] Fixed typo in windows workflow.

---
 .github/workflows/windows.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index cb4e76f2960..8fab5818504 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -222,7 +222,7 @@ jobs:
           python -m pip install -U jedi==${{ env.JEDI_VER }} idna==${{ env.IDNA_VER }}
       - name: Install Open3D python requirements for stubgen
         working-directory: ${{ env.SOURCE_DIR }}
-        if: ${{ matrix.WITH_STUBGEN == 'ON' }}
+        if: ${{ env.WITH_STUBGEN == 'ON' }}
         run: |
           $ErrorActionPreference = 'Stop'
           python -m pip install -U -r python/requirements.txt

From 7dc7a3804b406931c121fae0449e43c36f6f241f Mon Sep 17 00:00:00 2001
From: Tim Ohliger <ohliger.tim@gmail.com>
Date: Sat, 31 Aug 2024 12:22:47 +0200
Subject: [PATCH 21/21] Delete open3d reference in __init__.py to fix `open3d =
 ` in stubgen.

---
 python/open3d/__init__.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python/open3d/__init__.py b/python/open3d/__init__.py
index d4d5c613b0e..5a8c11556fb 100644
--- a/python/open3d/__init__.py
+++ b/python/open3d/__init__.py
@@ -212,4 +212,4 @@ def _jupyter_nbextension_paths():
 
 if sys.platform == "win32":
     _win32_dll_dir.close()
-del os, sys, CDLL, load_cdll, find_library, Path, warnings, _insert_pybind_names
+del os, sys, CDLL, load_cdll, find_library, Path, warnings, _insert_pybind_names, open3d