fetchcontent

Open3D viewer, libopen3d, pybind, tf_ops and torch_ops work
isl-org · Jul 27, 2024 · 8e20d19 · 8e20d19
1 parent e52a208
commit 8e20d19
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Showing 10 changed files with 138 additions and 122 deletions.
diff --git a/3rdparty/find_dependencies.cmake b/3rdparty/find_dependencies.cmake
@@ -1597,7 +1597,7 @@ else(OPEN3D_USE_ONEAPI_PACKAGES)
     endif()
     if(NOT USE_SYSTEM_TBB)
         include(${Open3D_3RDPARTY_DIR}/mkl/tbb.cmake)
-        list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_CUSTOM Open3D::3rdparty_tbb)
+        list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_CUSTOM TBB::tbb)
     else()
         list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_SYSTEM Open3D::3rdparty_tbb)
     endif()

diff --git a/3rdparty/mkl/tbb.cmake b/3rdparty/mkl/tbb.cmake
@@ -1,53 +1,35 @@
 # TBB build scripts.
 
-include(ExternalProject)
+include(FetchContent)
+cmake_policy(SET CMP0077 NEW)
 
 # Where MKL and TBB headers and libs will be installed.
 # This needs to be consistent with mkl.cmake.
 set(MKL_INSTALL_PREFIX ${CMAKE_BINARY_DIR}/mkl_install)
 set(STATIC_MKL_INCLUDE_DIR "${MKL_INSTALL_PREFIX}/${Open3D_INSTALL_INCLUDE_DIR}/")
 set(STATIC_MKL_LIB_DIR "${MKL_INSTALL_PREFIX}/${Open3D_INSTALL_LIB_DIR}")
 
-# TBB variables exported for PyTorch Ops and TensorFlow Ops
-set(TBB_INCLUDE_DIR "${STATIC_MKL_INCLUDE_DIR}")
-set(TBB_LIB_DIR "${STATIC_MKL_LIB_DIR}")
-set(TBB_RUNTIME_DIR "${MKL_INSTALL_PREFIX}/${Open3D_INSTALL_BIN_DIR}")
-set(TBB_LIBRARIES tbb tbbmalloc)
-
-ExternalProject_Add(
+# Save and restore BUILD_SHARED_LIBS since TBB must be built as a shared library
+set(__build_shared_libs ${BUILD_SHARED_LIBS})
+set(BUILD_SHARED_LIBS ON)
+FetchContent_Declare(
     ext_tbb
-    PREFIX tbb
     URL https://github.com/oneapi-src/oneTBB/archive/refs/tags/v2021.12.0.tar.gz # April 2024
     URL_HASH SHA256=c7bb7aa69c254d91b8f0041a71c5bcc3936acb64408a1719aec0b2b7639dd84f
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/tbb"
-    UPDATE_COMMAND ""
-    CMAKE_ARGS
-        -DCMAKE_INSTALL_PREFIX=${MKL_INSTALL_PREFIX}
-        -DSTATIC_WINDOWS_RUNTIME=${STATIC_WINDOWS_RUNTIME}
-        -DTBBMALLOC_BUILD=ON
-        -DTBBMALLOC_PROXY_BUILD=OFF
-        -DTBB_TEST=OFF
-        -DCMAKE_INSTALL_LIBDIR=${Open3D_INSTALL_LIB_DIR}
-        -DCMAKE_INSTALL_BINDIR=${Open3D_INSTALL_BIN_DIR}
-        ${ExternalProject_CMAKE_ARGS}
-    BUILD_BYPRODUCTS
-    ${TBB_LIB_DIR}/${CMAKE_SHARED_LIBRARY_PREFIX}tbb${CMAKE_SHARED_LIBRARY_SUFFIX}
-    ${TBB_LIB_DIR}/${CMAKE_SHARED_LIBRARY_PREFIX}tbbmalloc${CMAKE_SHARED_LIBRARY_SUFFIX}
 )
-set(__TBB_BINARY_VERSION 12)    # from tbb/version.h
+set(TBBMALLOC_BUILD OFF CACHE BOOL "Enable tbbmalloc build.")
+set(TBBMALLOC_PROXY_BUILD OFF CACHE BOOL "Enable tbbmalloc_proxy build.")
+set(TBB_TEST OFF CACHE BOOL "Build TBB tests.")
+set(TBB_INSTALL OFF CACHE BOOL "Enable installation")
+set(TBB_STRICT OFF CACHE BOOL "Treat compiler warnings as errors")
+FetchContent_MakeAvailable(ext_tbb)
+set(BUILD_SHARED_LIBS ${__build_shared_libs})
 
 # TBB is built and linked as a shared library - this is different from all other Open3D dependencies.
-add_library(3rdparty_tbb INTERFACE)
-target_include_directories(3rdparty_tbb SYSTEM INTERFACE $<BUILD_INTERFACE:${TBB_INCLUDE_DIR}>)
-add_dependencies(3rdparty_tbb ext_tbb)
-if (WIN32)
-    set(TBB_LIBRARIES_PATH "${TBB_LIB_DIR}/tbb${__TBB_BINARY_VERSION}.lib;${TBB_LIB_DIR}/tbbmalloc.lib")
-    set(TBB_RUNTIMES_PATH "${TBB_RUNTIME_DIR}/tbb${__TBB_BINARY_VERSION}.dll;${TBB_RUNTIME_DIR}/tbbmalloc.dll")
-    install(FILES ${TBB_RUNTIMES_PATH} DESTINATION ${Open3D_INSTALL_BIN_DIR})
-else()
-    set(TBB_LIBRARIES_PATH "${TBB_LIB_DIR}/${CMAKE_SHARED_LIBRARY_PREFIX}tbb${CMAKE_SHARED_LIBRARY_SUFFIX};${TBB_LIB_DIR}/${CMAKE_SHARED_LIBRARY_PREFIX}tbbmalloc${CMAKE_SHARED_LIBRARY_SUFFIX}")
-endif()
-target_link_libraries(3rdparty_tbb INTERFACE ${TBB_LIBRARIES_PATH})
-install(TARGETS 3rdparty_tbb EXPORT ${PROJECT_NAME}Targets)
-install(FILES ${TBB_LIBRARIES_PATH} DESTINATION ${Open3D_INSTALL_LIB_DIR})
-add_library(${PROJECT_NAME}::3rdparty_tbb ALIAS 3rdparty_tbb)
+install(TARGETS tbb EXPORT ${PROJECT_NAME}Targets
+  LIBRARY DESTINATION ${Open3D_INSTALL_LIB_DIR}
+  COMPONENT tbb
+  RUNTIME DESTINATION ${Open3D_INSTALL_BIN_DIR}
+  COMPONENT tbb
+)
diff --git a/3rdparty/mkl/tbb.externalcontent.cmake b/3rdparty/mkl/tbb.externalcontent.cmake
@@ -0,0 +1,53 @@
+# TBB build scripts.
+
+include(ExternalProject)
+
+# Where MKL and TBB headers and libs will be installed.
+# This needs to be consistent with mkl.cmake.
+set(MKL_INSTALL_PREFIX ${CMAKE_BINARY_DIR}/mkl_install)
+set(STATIC_MKL_INCLUDE_DIR "${MKL_INSTALL_PREFIX}/${Open3D_INSTALL_INCLUDE_DIR}/")
+set(STATIC_MKL_LIB_DIR "${MKL_INSTALL_PREFIX}/${Open3D_INSTALL_LIB_DIR}")
+
+# TBB variables exported for PyTorch Ops and TensorFlow Ops
+set(TBB_INCLUDE_DIR "${STATIC_MKL_INCLUDE_DIR}")
+set(TBB_LIB_DIR "${STATIC_MKL_LIB_DIR}")
+set(TBB_RUNTIME_DIR "${MKL_INSTALL_PREFIX}/${Open3D_INSTALL_BIN_DIR}")
+set(TBB_LIBRARIES tbb tbbmalloc)
+
+ExternalProject_Add(
+    ext_tbb
+    PREFIX tbb
+    URL https://github.com/oneapi-src/oneTBB/archive/refs/tags/v2021.12.0.tar.gz # April 2024
+    URL_HASH SHA256=c7bb7aa69c254d91b8f0041a71c5bcc3936acb64408a1719aec0b2b7639dd84f
+    DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/tbb"
+    UPDATE_COMMAND ""
+    CMAKE_ARGS
+        -DCMAKE_INSTALL_PREFIX=${MKL_INSTALL_PREFIX}
+        -DSTATIC_WINDOWS_RUNTIME=${STATIC_WINDOWS_RUNTIME}
+        -DTBBMALLOC_BUILD=ON
+        -DTBBMALLOC_PROXY_BUILD=OFF
+        -DTBB_TEST=OFF
+        -DCMAKE_INSTALL_LIBDIR=${Open3D_INSTALL_LIB_DIR}
+        -DCMAKE_INSTALL_BINDIR=${Open3D_INSTALL_BIN_DIR}
+        ${ExternalProject_CMAKE_ARGS}
+    BUILD_BYPRODUCTS
+    ${TBB_LIB_DIR}/${CMAKE_SHARED_LIBRARY_PREFIX}tbb${CMAKE_SHARED_LIBRARY_SUFFIX}
+    ${TBB_LIB_DIR}/${CMAKE_SHARED_LIBRARY_PREFIX}tbbmalloc${CMAKE_SHARED_LIBRARY_SUFFIX}
+)
+set(__TBB_BINARY_VERSION 12)    # from tbb/version.h
+
+# TBB is built and linked as a shared library - this is different from all other Open3D dependencies.
+add_library(3rdparty_tbb INTERFACE)
+target_include_directories(3rdparty_tbb SYSTEM INTERFACE $<BUILD_INTERFACE:${TBB_INCLUDE_DIR}>)
+add_dependencies(3rdparty_tbb ext_tbb)
+if (WIN32)
+    set(TBB_LIBRARIES_PATH "${TBB_LIB_DIR}/tbb${__TBB_BINARY_VERSION}.lib;${TBB_LIB_DIR}/tbbmalloc.lib")
+    set(TBB_RUNTIMES_PATH "${TBB_RUNTIME_DIR}/tbb${__TBB_BINARY_VERSION}.dll;${TBB_RUNTIME_DIR}/tbbmalloc.dll")
+    install(FILES ${TBB_RUNTIMES_PATH} DESTINATION ${Open3D_INSTALL_BIN_DIR})
+else()
+    set(TBB_LIBRARIES_PATH "${TBB_LIB_DIR}/${CMAKE_SHARED_LIBRARY_PREFIX}tbb${CMAKE_SHARED_LIBRARY_SUFFIX};${TBB_LIB_DIR}/${CMAKE_SHARED_LIBRARY_PREFIX}tbbmalloc${CMAKE_SHARED_LIBRARY_SUFFIX}")
+endif()
+target_link_libraries(3rdparty_tbb INTERFACE ${TBB_LIBRARIES_PATH})
+install(TARGETS 3rdparty_tbb EXPORT ${PROJECT_NAME}Targets)
+install(FILES ${TBB_LIBRARIES_PATH} DESTINATION ${Open3D_INSTALL_LIB_DIR})
+add_library(${PROJECT_NAME}::3rdparty_tbb ALIAS 3rdparty_tbb)
diff --git a/3rdparty/mkl/tbb.fetccontent.cmake b/3rdparty/mkl/tbb.fetccontent.cmake
diff --git a/cpp/apps/CMakeLists.txt b/cpp/apps/CMakeLists.txt
@@ -128,7 +128,7 @@ macro(open3d_add_app_common SRC_DIR APP_NAME TARGET_NAME)
                             INSTALL_RPATH "$ORIGIN;$ORIGIN/../lib/")
     endif()
 
-    target_link_libraries(${TARGET_NAME} PRIVATE Open3D::Open3D ${ARGN})
+    target_link_libraries(${TARGET_NAME} PRIVATE Open3D::Open3D TBB::tbb ${ARGN})
     set_target_properties(${TARGET_NAME} PROPERTIES FOLDER "apps")
 
     open3d_link_3rdparty_libraries(${TARGET_NAME})

diff --git a/cpp/apps/fixup_macosx_bundle.sh b/cpp/apps/fixup_macosx_bundle.sh
@@ -7,31 +7,31 @@
 # within the bundle.
 
 if [[ $(uname) != "Darwin" ]]; then
-	echo "This script is only useful for macOS"
-	exit 1
+    echo "This script is only useful for macOS"
+    exit 1
 fi
 
 if [[ $# != 1 ]]; then
-	echo "Usage: $0 path/to/name.app"
-	exit 1
+    echo "Usage: $0 path/to/name.app"
+    exit 1
 fi
 
 # Find the path to the actual executable in the app bundle
 appBundle=$1
 exeDir="$appBundle/Contents/MacOS"
 exe=$(find "$exeDir" -type f -perm +111 | grep -v dylib)
 if [[ ! -f $exe ]]; then
-	echo "No executable file in app bundle ($appBundle/Contents/MacOS)"
-	exit 1
+    echo "No executable file in app bundle ($appBundle/Contents/MacOS)"
+    exit 1
 fi
 
 # Find the rpath paths
 rpaths=$(otool -l "$exe" | grep "path " | awk '{print $2}')
 if [[ $rpath != "" ]]; then
-	echo "@rpath:"
-	for rp in $rpaths; do
-		echo "    $rp"
-	done
+    echo "@rpath:"
+    for rp in $rpaths; do
+        echo "    $rp"
+    done
 fi
 
 # Set IFS so that newlines don't become spaces; helps parsing the otool -L output
@@ -41,35 +41,34 @@ IFS='
 # Copy any external libraries and change the library paths to @executable_path
 libs=$(otool -L "$exe" | grep -v "$exe" | grep -v /usr/lib | grep -v /System | awk '{ print $1; }')
 for lib in $libs; do
-	if [[ ${lib:0:1} != "@" ]]; then # external library with a regular path
-		# copy the external library
-		cp -aL "$lib" "$exeDir"
+    if [[ ${lib:0:1} != "@" ]]; then # external library with a regular path
+        libname=$(basename $lib)
+        # copy the external library, resolve symlink chain
+        cp -aRL "$lib" "$exeDir/$lib"
+        # change its path in the executable
+        newpath="@executable_path/$libname"
+        echo "$lib -> $newpath"
+        install_name_tool -change "$lib" "$newpath" "$exe"
 
-		# change its path in the executable
-		libname=$(basename $lib)
-		newpath="@executable_path/$libname"
-		echo "$lib -> $newpath"
-		install_name_tool -change "$lib" "$newpath" "$exe"
+    elif [[ $lib == @rpath/* ]]; then # external library with @rpath
+        libname=${lib:7}
+        # copy the external library. Since it uses an rpath, we need to
+        # prepend each rpath to see which one gives a valid path
+        for rp in $rpaths; do
+            if [[ -f "$rp/$libname" ]]; then
+                cp -aRL "$rp/$libname" "$exeDir/$libname"
+                break
+            fi
+        done
 
-	elif [[ $lib == @rpath/* ]]; then # external library with @rpath
-		libname=${lib:7}
-		# copy the external library. Since it uses an rpath, we need to
-		# prepend each rpath to see which one gives a valid path
-		for rp in $rpaths; do
-			if [[ -f "$rp/$libname" ]]; then
-				cp -a "$rp/$libname" "$exeDir"
-				break
-			fi
-		done
-
-		# change its path in the executable
-		newpath="@executable_path/$libname"
-		echo "$lib -> $newpath"
-		install_name_tool -change "$lib" "$newpath" $exe
-	fi
+        # change its path in the executable
+        newpath="@executable_path/$libname"
+        echo "$lib -> $newpath"
+        install_name_tool -change "$lib" "$newpath" $exe
+    fi
 done
 
 # Remove rpaths
 for rp in $rpaths; do
-	install_name_tool -delete_rpath "$rp" "$exe"
+    install_name_tool -delete_rpath "$rp" "$exe"
 done
diff --git a/cpp/open3d/ml/pytorch/CMakeLists.txt b/cpp/open3d/ml/pytorch/CMakeLists.txt
@@ -128,6 +128,12 @@ set_target_properties(open3d_torch_ops PROPERTIES
 # Do not add "lib" prefix
 set_target_properties(open3d_torch_ops PROPERTIES PREFIX "")
 set_target_properties(open3d_torch_ops PROPERTIES DEBUG_POSTFIX "_debug")
+# Set BUILD_RPATH to find tbb. We don't install through cmake.
+if (APPLE)
+    set_target_properties(open3d_torch_ops PROPERTIES BUILD_RPATH "@loader_path/..")
+elseif (UNIX)
+    set_target_properties(open3d_torch_ops PROPERTIES BUILD_RPATH "$ORIGIN/..")
+endif()
 
 target_include_directories(open3d_torch_ops SYSTEM PRIVATE
     ${PROJECT_SOURCE_DIR}/cpp
@@ -140,8 +146,7 @@ target_link_libraries(open3d_torch_ops PRIVATE
     Open3D::3rdparty_eigen3
     Open3D::3rdparty_fmt
     Open3D::3rdparty_nanoflann
-    Open3D::3rdparty_parallelstl
-    Open3D::3rdparty_tbb
+    TBB::tbb
 )
 
 if (BUILD_CUDA_MODULE)
@@ -176,7 +181,7 @@ URL: @PROJECT_HOMEPAGE_URL@
 Version: @PROJECT_VERSION@
 Requires: Open3D = @PROJECT_VERSION@
 Cflags:
-Libs: -lopen3d_torch_ops]=]  @ONLY NEWLINE_STYLE LF)
+Libs: -lopen3d_torch_ops -ltbb]=]  @ONLY NEWLINE_STYLE LF)
     file(GENERATE OUTPUT open3d_torch_ops.pc INPUT
         "${CMAKE_CURRENT_BINARY_DIR}/open3d_torch_ops.pc.in"
         TARGET open3d_torch_ops)

diff --git a/cpp/open3d/ml/tensorflow/CMakeLists.txt b/cpp/open3d/ml/tensorflow/CMakeLists.txt
@@ -123,12 +123,6 @@ open3d_show_and_abort_on_warning(open3d_tf_ops)
 open3d_enable_strip(open3d_tf_ops)
 # do not use open3d_set_global_properties(open3d_tf_ops) here because some
 # options are not compatible for tf op libraries
-# RPATH handling (for TBB DSO). Check current folder, one folder above and the lib sibling folder 
-if (APPLE)
-    set_target_properties(open3d_tf_ops PROPERTIES INSTALL_RPATH "@loader_path;@loader_path/../;@loader_path/../lib/")
-elseif(UNIX)
-    set_target_properties(open3d_tf_ops PROPERTIES INSTALL_RPATH "$ORIGIN;$ORIGIN/../;$ORIGIN/../lib/")
-endif()
 
 # Set output directory according to architecture (cpu/cuda)
 get_target_property(TF_OPS_DIR open3d_tf_ops LIBRARY_OUTPUT_DIRECTORY)
@@ -141,6 +135,12 @@ set_target_properties(open3d_tf_ops PROPERTIES
 # Do not add "lib" prefix
 set_target_properties(open3d_tf_ops PROPERTIES PREFIX "")
 set_target_properties(open3d_tf_ops PROPERTIES DEBUG_POSTFIX "_debug")
+# Set BUILD_RPATH to find tbb. We don't install through cmake.
+if (APPLE)
+    set_target_properties(open3d_tf_ops PROPERTIES BUILD_RPATH "@loader_path/..")
+elseif (UNIX)
+    set_target_properties(open3d_tf_ops PROPERTIES BUILD_RPATH "$ORIGIN/..")
+endif()
 
 # _GLIBCXX_USER_CXX11_ABI is set separately
 list(REMOVE_ITEM Tensorflow_DEFINITIONS "_GLIBCXX_USE_CXX11_ABI=0"
@@ -165,8 +165,7 @@ target_link_libraries(open3d_tf_ops PRIVATE
     Open3D::Open3D
     Open3D::3rdparty_fmt
     Open3D::3rdparty_nanoflann
-    Open3D::3rdparty_parallelstl
-    Open3D::3rdparty_tbb
+    TBB::tbb
 )
 
 if (BUILD_CUDA_MODULE)
@@ -200,7 +199,7 @@ URL: @PROJECT_HOMEPAGE_URL@
 Version: @PROJECT_VERSION@
 Requires: Open3D = @PROJECT_VERSION@
 Cflags:
-Libs: -lopen3d_tf_ops]=]  @ONLY NEWLINE_STYLE LF)
+Libs: -lopen3d_tf_ops -ltbb]=]  @ONLY NEWLINE_STYLE LF)
     file(GENERATE OUTPUT open3d_tf_ops.pc INPUT
         "${CMAKE_CURRENT_BINARY_DIR}/open3d_tf_ops.pc.in"
         TARGET open3d_tf_ops)

diff --git a/cpp/pybind/CMakeLists.txt b/cpp/pybind/CMakeLists.txt
@@ -75,14 +75,21 @@ endif()
 # `build/lib/${CMAKE_BUILD_TYPE}/Python/{cpu|cuda}`
 set(PYTHON_COMPILED_MODULE_DIR
     "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/Python/$<IF:$<BOOL:${BUILD_CUDA_MODULE}>,cuda,cpu>")
+
+# Set BUILD_RPATH to find tbb. We don't install through cmake.
+if (APPLE)
+    set_target_properties(pybind PROPERTIES BUILD_RPATH "@loader_path/..")
+elseif (UNIX)
+    set_target_properties(pybind PROPERTIES BUILD_RPATH "$ORIGIN/..")
+endif()
 set_target_properties(pybind PROPERTIES
                       FOLDER "Python"
                       LIBRARY_OUTPUT_DIRECTORY "${PYTHON_COMPILED_MODULE_DIR}"
                       ARCHIVE_OUTPUT_DIRECTORY "${PYTHON_COMPILED_MODULE_DIR}")
 # Include additional libraries that may be absent from the user system
 # eg: libc++.so and libc++abi.so (needed by filament) for Linux.
 # libc++.so is a linker script including libc++.so.1 and libc++abi.so, so append 1 to libc++.so
-set(PYTHON_EXTRA_LIBRARIES ${TBB_LIBRARIES_PATH})
+set(PYTHON_EXTRA_LIBRARIES $<TARGET_FILE:tbb>)
 if (BUILD_GUI AND CMAKE_SYSTEM_NAME STREQUAL "Linux")
     list(APPEND PYTHON_EXTRA_LIBRARIES ${CPP_LIBRARY}.1 ${CPPABI_LIBRARY}
         ${MESA_CPU_GL_LIBRARY})
@@ -102,7 +109,7 @@ if (WITH_OPENMP AND APPLE AND NOT BUILD_SHARED_LIBS)
     file(GENERATE OUTPUT update_pybind_libomp.sh
         CONTENT [=[libomp_library=$(dyld_info -dependents "$<TARGET_FILE:pybind>" |
 grep libomp | tr -d '[:space:]')
-install_name_tool -change $libomp_library @loader_path/../libomp.dylib \
+install_name_tool -change $libomp_library @rpath/$(basename $libomp_library) \
 "$<TARGET_FILE:pybind>"]=])
     add_custom_command(TARGET pybind POST_BUILD
         COMMAND bash update_pybind_libomp.sh