Replace conda with pyenv to fix incorrect libstdc++ use in jammy CI.

3rdparty/find_dependencies.cmake

@@ -1338,6 +1338,7 @@ 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()
@@ -1362,7 +1363,10 @@ 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}.
@@ -1378,6 +1382,11 @@ 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

@@ -67,34 +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/*
 
-# Miniconda 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/miniconda3/bin:${PATH}"
-ENV PATH="/root/miniconda3/envs/open3d/bin:${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 -q https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh; \
-        bash Miniconda3-latest-Linux-x86_64.sh -b; \
-        rm Miniconda3-latest-Linux-x86_64.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 conda --version \
- && conda create -y -n open3d python=${PYTHON_VERSION}
+RUN python --version && pip --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

@@ -141,7 +141,7 @@ 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

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.

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