Merge branch 'main' of github.com:isl-org/Open3D into bu/support-pyth…

…on-312-mirror

3rdparty/find_dependencies.cmake

@@ -1339,6 +1339,7 @@ if(BUILD_GUI)
                     if (CPP_LIBRARY AND CPPABI_LIBRARY)
                         set(CLANG_LIBDIR ${llvm_lib_dir})
                         message(STATUS "CLANG_LIBDIR found in ubuntu-default: ${CLANG_LIBDIR}")
+                        set(LIBCPP_VERSION ${llvm_ver})
                         break()
                     endif()
                 endforeach()
@@ -1363,7 +1364,10 @@ if(BUILD_GUI)
                              llvm-8/lib
                              llvm-7/lib
                 )
+                file(REAL_PATH ${CPPABI_LIBRARY} CPPABI_LIBRARY)
                 get_filename_component(CLANG_LIBDIR ${CPPABI_LIBRARY} DIRECTORY)
+                string(REGEX MATCH "llvm-([0-9]+)/lib" _ ${CLANG_LIBDIR})
+                set(LIBCPP_VERSION ${CMAKE_MATCH_1})
             endif()
 
             # Find clang libraries at the exact path ${CLANG_LIBDIR}.
@@ -1379,6 +1383,11 @@ if(BUILD_GUI)
             target_link_libraries(3rdparty_filament INTERFACE -lstdc++
                                   ${CPP_LIBRARY} ${CPPABI_LIBRARY})
             message(STATUS "Filament C++ libraries: ${CPP_LIBRARY} ${CPPABI_LIBRARY}")
+            if (LIBCPP_VERSION GREATER 11)
+                message(WARNING "libc++ (LLVM) version ${LIBCPP_VERSION} > 11 includes libunwind that " 
+                "interferes with the system libunwind.so.8 and may crash Python code when exceptions "
+                "are used. Please consider using libc++ (LLVM) v11.")
+            endif()
         endif()
         if (APPLE)
             find_library(CORE_VIDEO CoreVideo)

cpp/open3d/core/nns/NanoFlannImpl.h

@@ -118,13 +118,6 @@ void _KnnSearchCPU(NanoFlannIndexHolderBase *holder,
         return;
     }
 
-    auto points_equal = [](const T *const p1, const T *const p2,
-                           size_t dimension) {
-        std::vector<T> p1_vec(p1, p1 + dimension);
-        std::vector<T> p2_vec(p2, p2 + dimension);
-        return p1_vec == p2_vec;
-    };
-
     std::vector<std::vector<TIndex>> neighbors_indices(num_queries);
     std::vector<std::vector<T>> neighbors_distances(num_queries);
     std::vector<uint32_t> neighbors_count(num_queries, 0);
@@ -147,8 +140,9 @@ void _KnnSearchCPU(NanoFlannIndexHolderBase *holder,
                     for (size_t valid_i = 0; valid_i < num_valid; ++valid_i) {
                         TIndex idx = result_indices[valid_i];
                         if (ignore_query_point &&
-                            points_equal(&queries[i * dimension],
-                                         &points[idx * dimension], dimension)) {
+                            std::equal(&queries[i * dimension],
+                                       &queries[i * dimension] + dimension,
+                                       &points[idx * dimension])) {
                             continue;
                         }
                         neighbors_indices[i].push_back(idx);
@@ -222,13 +216,6 @@ void _RadiusSearchCPU(NanoFlannIndexHolderBase *holder,
         return;
     }
 
-    auto points_equal = [](const T *const p1, const T *const p2,
-                           size_t dimension) {
-        std::vector<T> p1_vec(p1, p1 + dimension);
-        std::vector<T> p2_vec(p2, p2 + dimension);
-        return p1_vec == p2_vec;
-    };
-
     std::vector<std::vector<TIndex>> neighbors_indices(num_queries);
     std::vector<std::vector<T>> neighbors_distances(num_queries);
     std::vector<uint32_t> neighbors_count(num_queries, 0);
@@ -255,9 +242,9 @@ void _RadiusSearchCPU(NanoFlannIndexHolderBase *holder,
                     int num_neighbors = 0;
                     for (const auto &idx_dist : search_result) {
                         if (ignore_query_point &&
-                            points_equal(&queries[i * dimension],
-                                         &points[idx_dist.first * dimension],
-                                         dimension)) {
+                            std::equal(&queries[i * dimension],
+                                       &queries[i * dimension] + dimension,
+                                       &points[idx_dist.first * dimension])) {
                             continue;
                         }
                         neighbors_indices[i].push_back(idx_dist.first);

cpp/pybind/CMakeLists.txt

@@ -80,6 +80,9 @@ set(PYTHON_COMPILED_MODULE_DIR
 if (APPLE)
     set_target_properties(pybind PROPERTIES BUILD_RPATH "@loader_path;@loader_path/..")
 elseif (UNIX)
+    # Use RPATH instead of RUNPATH in pybind so that needed libc++.so can find child dependant libc++abi.so in RPATH
+    # https://stackoverflow.com/questions/69662319/managing-secondary-dependencies-of-shared-libraries
+    target_link_options(pybind PRIVATE "LINKER:--disable-new-dtags")
     set_target_properties(pybind PROPERTIES BUILD_RPATH "$ORIGIN;$ORIGIN/..")
 endif()
 set_target_properties(pybind PROPERTIES

cpp/tests/t/geometry/TensorMap.cpp

@@ -32,6 +32,13 @@ TEST_P(TensorMapPermuteDevices, Constructor) {
     // Primary key is required.
     EXPECT_ANY_THROW(t::geometry::TensorMap());
 
+    // Delete primary key.
+    EXPECT_ANY_THROW(tm0.Erase("positions"));
+
+    // Reserved keys.
+    EXPECT_ANY_THROW(tm0.insert(
+            {"primary_key", core::Tensor::Zeros({2, 3}, dtype, device)}));
+
     // Iterators.
     std::map<std::string, core::Tensor> tensor_map(
             {{"positions", core::Tensor::Zeros({10, 3}, dtype, device)},

docker/Dockerfile.ci

@@ -67,35 +67,48 @@ RUN if [ "${BUILD_SYCL_MODULE}" = "ON" ]; then \
         rm -rf /etc/apt/sources.list.d/oneAPI.list; \
     fi
 
-# Dependencies: basic
+# Dependencies: basic and python-build
 RUN apt-get update && apt-get install -y \
     git  \
     wget \
     curl \
     build-essential \
     pkg-config \
+    zlib1g \
+    zlib1g-dev \
+    libssl-dev \
+    libbz2-dev \
+    libreadline-dev \
+    libsqlite3-dev \
+    libncursesw5-dev \
+    xz-utils \
+    tk-dev \
+    libxml2-dev \
+    libxmlsec1-dev \
+    libffi-dev \
+    liblzma-dev \
  && rm -rf /var/lib/apt/lists/*
 
-# Miniforge or Intel conda
-# The **/open3d/bin paths are used during docker run, in this way docker run
+# pyenv or Intel Python
+# The pyenv python paths are used during docker run, in this way docker run
 # does not need to activate the environment again.
-ENV PATH="/root/miniforge3/bin:${PATH}"
-ENV PATH="/root/miniforge3/envs/open3d/bin:${PATH}"
+# The soft link from the python patch level version to the python mino version
+# ensures python wheel commands (i.e. open3d) are in PATH, since we don't know
+# which patch level pyenv will install (latest).
+ENV PYENV_ROOT=/root/.pyenv
+ENV PATH="$PYENV_ROOT/shims:$PYENV_ROOT/bin:$PYENV_ROOT/versions/$PYTHON_VERSION/bin:$PATH"
 ENV PATH="/opt/intel/oneapi/intelpython/latest/bin:${PATH}"
-ENV PATH="/opt/intel/oneapi/intelpython/latest/envs/open3d/bin:${PATH}"
 RUN if [ "${BUILD_SYCL_MODULE}" = "OFF" ]; then \
-        wget "https://github.com/conda-forge/miniforge/releases/latest/download/Miniforge3-$(uname)-$(uname -m).sh"; \
-        bash Miniforge3-$(uname)-$(uname -m).sh -b; \
-        rm Miniforge3-$(uname)-$(uname -m).sh; \
+        curl https://pyenv.run | bash \
+        && pyenv update \
+        && pyenv install $PYTHON_VERSION \
+        && pyenv global $PYTHON_VERSION \
+        && pyenv rehash \
+        && ln -s $PYENV_ROOT/versions/${PYTHON_VERSION}* $PYENV_ROOT/versions/${PYTHON_VERSION}; \
     fi
+RUN python --version && pip --version
 
-RUN conda --version \
- && conda create -y -n open3d python=${PYTHON_VERSION}
-
-# Activate open3d virtualenv
-# This works during docker build. It becomes the prefix of all RUN commands.
-# Ref: https://stackoverflow.com/a/60148365/1255535
-SHELL ["conda", "run", "-n", "open3d", "/bin/bash", "-o", "pipefail", "-c"]
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 # Dependencies: cmake
 ENV PATH=${HOME}/${CMAKE_VERSION}/bin:${PATH}

docker/docker_test.sh

@@ -145,7 +145,7 @@ cpp_python_linking_uninstall_test() {
     # Python test
     echo "pytest is randomized, add --randomly-seed=SEED to repeat the test sequence."
     ${docker_run} -i --rm "${DOCKER_TAG}" /bin/bash -c " \
-        python -m pytest python/test ${pytest_args} -s"
+        python  -W default -m pytest python/test ${pytest_args} -s"
     restart_docker_daemon_if_on_gcloud
 
     # Command-line tools test

examples/python/visualization/remote_visualizer.py

@@ -0,0 +1,71 @@
+# ----------------------------------------------------------------------------
+# -                        Open3D: www.open3d.org                            -
+# ----------------------------------------------------------------------------
+# Copyright (c) 2018-2023 www.open3d.org
+# SPDX-License-Identifier: MIT
+# ----------------------------------------------------------------------------
+"""This example shows Open3D's remote visualization feature using RPC
+communication. To run this example, start the client first by running
+
+python remote_visualizer.py client
+
+and then run the server by running
+
+python remote_visualizer.py server
+
+Port 51454 is used by default for communication. For remote visualization (client
+and server running on different machines), use ssh to forward the remote server
+port to your local computer:
+
+    ssh -N -R 51454:localhost:51454 user@remote_host
+
+See documentation for more details (e.g. to use a different port).
+"""
+import sys
+import numpy as np
+import open3d as o3d
+import open3d.visualization as vis
+
+
+def make_point_cloud(npts, center, radius, colorize):
+    pts = np.random.uniform(-radius, radius, size=[npts, 3]) + center
+    cloud = o3d.geometry.PointCloud()
+    cloud.points = o3d.utility.Vector3dVector(pts)
+    if colorize:
+        colors = np.random.uniform(0.0, 1.0, size=[npts, 3])
+        cloud.colors = o3d.utility.Vector3dVector(colors)
+    return cloud
+
+
+def server_time_animation():
+    orig = make_point_cloud(200, (0, 0, 0), 1.0, True)
+    clouds = [{"name": "t=0", "geometry": orig, "time": 0}]
+    drift_dir = (1.0, 0.0, 0.0)
+    expand = 1.0
+    n = 20
+    ev = o3d.visualization.ExternalVisualizer()
+    for i in range(1, n):
+        amount = float(i) / float(n - 1)
+        cloud = o3d.geometry.PointCloud()
+        pts = np.asarray(orig.points)
+        pts = pts * (1.0 + amount * expand) + [amount * v for v in drift_dir]
+        cloud.points = o3d.utility.Vector3dVector(pts)
+        cloud.colors = orig.colors
+        ev.set(obj=cloud, time=i, path=f"points at t={i}")
+        print('.', end='', flush=True)
+    print()
+
+
+def client_time_animation():
+    o3d.visualization.draw(title="Open3D - Remote Visualizer Client",
+                           show_ui=True,
+                           rpc_interface=True)
+
+
+if __name__ == "__main__":
+    assert len(sys.argv) == 2 and sys.argv[1] in ('client', 'server'), (
+        "Usage: python remote_visualizer.py [client|server]")
+    if sys.argv[1] == "client":
+        client_time_animation()
+    elif sys.argv[1] == "server":
+        server_time_animation()

python/open3d/__init__.py

@@ -45,14 +45,6 @@ def load_cdll(path):
 if sys.platform == "win32":  # Unix: Use rpath to find libraries
     _win32_dll_dir = os.add_dll_directory(str(Path(__file__).parent))
 
-if _build_config["BUILD_GUI"] and not (find_library("c++abi") or
-                                       find_library("c++")):
-    try:  # Preload libc++.so and libc++abi.so (required by filament)
-        load_cdll(str(next((Path(__file__).parent).glob("*c++abi.*"))))
-        load_cdll(str(next((Path(__file__).parent).glob("*c++.*"))))
-    except StopIteration:  # Not found: check system paths while loading
-        pass
-
 __DEVICE_API__ = "cpu"
 if _build_config["BUILD_CUDA_MODULE"]:
     # Load CPU pybind dll gracefully without introducing new python variable.

python/open3d/visualization/_external_visualizer.py

@@ -37,17 +37,23 @@ def set(self, obj=None, path='', time=0, layer='', connection=None):
 
         Example:
             To quickly send a single object just write::
+
                 ev.set(point_cloud)
 
             To place the object at a specific location in the scene tree do::
+
                 ev.set(point_cloud, path='group/mypoints', time=42, layer='')
+
             Note that depending on the visualizer some arguments like time or
             layer may not be supported and will be ignored.
 
             To set multiple objects use a list to pass multiple objects::
+
                 ev.set([point_cloud, mesh, camera])
+
             Each entry in the list can be a tuple specifying all or some of the
             location parameters::
+
                 ev.set(objs=[(point_cloud,'group/mypoints', 1, 'layer1'),
                              (mesh, 'group/mymesh'),
                              camera
@@ -147,6 +153,7 @@ def draw(self, geometry=None, *args, **kwargs):
 
         Example:
             Here we use draw with the default external visualizer::
+
                 import open3d as o3d
 
                 torus = o3d.geometry.TriangleMesh.create_torus()

python/open3d/visualization/draw.py

@@ -83,9 +83,10 @@ def draw(geometry=None,
         animation_time_step (float): Duration in seconds for each animation
             frame.
         animation_duration (float): Total animation duration in seconds.
-        rpc_interface (bool): Start an RPC interface at http://localhost:51454 and
-            listen for drawing requests. The requests can be made with
-            :class:`open3d.visualization.ExternalVisualizer`.
+        rpc_interface (bool or str): Start an RPC interface at this local
+            address and listen for drawing requests. If rpc_interface is True, the
+            default address "tcp://localhost:51454" is used. The requests can be
+            made with :class:`open3d.visualization.ExternalVisualizer`.
         on_init (Callable): Extra initialization procedure for the underlying
             GUI window. The procedure receives a single argument of type
             :class:`open3d.visualization.O3DVisualizer`.
@@ -202,7 +203,9 @@ def add(g, n):
         w.show_skybox(show_skybox)
 
     if rpc_interface:
-        w.start_rpc_interface(address="tcp://127.0.0.1:51454", timeout=10000)
+        if not isinstance(rpc_interface, str):
+            rpc_interface = "tcp://127.0.0.1:51454"
+        w.start_rpc_interface(address=rpc_interface, timeout=10000)
 
         def stop_rpc():
             w.stop_rpc_interface()

util/install_deps_ubuntu.sh

@@ -39,17 +39,22 @@ eval $(
     echo DISTRIB_ID="$DISTRIB_ID";
     echo DISTRIB_RELEASE="$DISTRIB_RELEASE"
 )
+# To avoid dependence on libunwind, we don't want to use clang / libc++ versions later than 11.
+# Ubuntu 20.04's has versions 8, 10 or 12 while Ubuntu 22.04 has versions 11 and later.
 if [ "$DISTRIB_ID" == "Ubuntu" -a "$DISTRIB_RELEASE" == "20.04" ]; then
-    # Ubuntu 20.04's clang/libc++-dev/libc++abi-dev are version 8, 10 or 12.
-    # To avoid dependence on libunwind, we don't want to use versions later than 10.
     deps=("${deps[@]/clang/clang-10}")
     deps=("${deps[@]/libc++-dev/libc++-10-dev}")
     deps=("${deps[@]/libc++abi-dev/libc++abi-10-dev}")
 fi
+if [ "$DISTRIB_ID" == "Ubuntu" -a "$DISTRIB_RELEASE" == "22.04" ]; then
+    deps=("${deps[@]/clang/clang-11}")
+    deps=("${deps[@]/libc++-dev/libc++-11-dev}")
+    deps=("${deps[@]/libc++abi-dev/libc++abi-11-dev}")
+fi
 
 # Special case for ARM64
 if [ "$(uname -m)" == "aarch64" ]; then
-    # For compling LAPACK in OpenBLAS
+    # For compiling LAPACK in OpenBLAS
     deps+=("gfortran")
 fi