[Test, do not merge] Support python 312 mirror

.github/workflows/macos.yml

@@ -62,7 +62,7 @@ jobs:
       - name: Set up Python version
         uses: actions/setup-python@v5
         with:
-          python-version: '3.11'
+          python-version: '3.12'
 
       - name: Install dependencies
         run: |
@@ -194,7 +194,7 @@ jobs:
         # macos-12 is Intel runner, macos-14 is Apple Silicon
         # https://github.com/actions/runner-images
         os: [macos-12, macos-14]
-        python_version: ['3.8', '3.9', '3.10', '3.11']
+        python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
@@ -209,6 +209,8 @@ jobs:
             python_version: '3.9'
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
 
     env:
       BUILD_CUDA_MODULE: OFF
@@ -310,12 +312,14 @@ jobs:
       fail-fast: false
       # https://github.community/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6
       matrix:
-        python_version: ['3.10', '3.11']
+        python_version: ['3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
     steps:
       - name: Checkout source code  # for gh release upload
         uses: actions/checkout@v4
@@ -374,7 +378,7 @@ jobs:
       fail-fast: false
       matrix:
         os: [macos-12, macos-14]
-        python_version: ['3.8', '3.9', '3.10', '3.11']
+        python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
@@ -388,6 +392,8 @@ jobs:
             python_version: '3.9'
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
 
     env:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
@@ -399,6 +405,7 @@ jobs:
         uses: actions/checkout@v4
         with:
           repository: isl-org/Open3D-ML
+          ref: ss/python-3.12    # remove before merge
           path: ${{ env.OPEN3D_ML_ROOT }}
 
       - name: Download wheels

.github/workflows/ubuntu-wheel.yml

@@ -33,7 +33,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: ['3.8', '3.9', '3.10', '3.11']
+        python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
@@ -43,6 +43,8 @@ jobs:
             python_version: '3.9'
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
     env:
       DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }}
       PYTHON_VERSION: ${{ matrix.python_version }}
@@ -67,6 +69,8 @@ jobs:
             docker/docker_build.sh cuda_wheel_py310_dev
           elif [ "${{ env.PYTHON_VERSION }}" = "3.11" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
             docker/docker_build.sh cuda_wheel_py311_dev
+          elif [ "${{ env.PYTHON_VERSION }}" = "3.12" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
+            docker/docker_build.sh cuda_wheel_py312_dev
           elif [ "${{ env.PYTHON_VERSION }}" = "3.8" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
             docker/docker_build.sh cuda_wheel_py38
           elif [ "${{ env.PYTHON_VERSION }}" = "3.9" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
@@ -75,6 +79,8 @@ jobs:
             docker/docker_build.sh cuda_wheel_py310
           elif [ "${{ env.PYTHON_VERSION }}" = "3.11" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
             docker/docker_build.sh cuda_wheel_py311
+          elif [ "${{ env.PYTHON_VERSION }}" = "3.12" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
+            docker/docker_build.sh cuda_wheel_py312
           fi
           PIP_PKG_NAME="$(basename ${GITHUB_WORKSPACE}/open3d-[0-9]*.whl)"
           PIP_CPU_PKG_NAME="$(basename ${GITHUB_WORKSPACE}/open3d_cpu*.whl)"
@@ -122,7 +128,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: ['3.8', '3.9', '3.10', '3.11']
+        python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
@@ -132,6 +138,8 @@ jobs:
             python_version: '3.9'
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
     env:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
     steps:
@@ -145,6 +153,7 @@ jobs:
         uses: actions/checkout@v4
         with:
           repository: isl-org/Open3D-ML
+          ref: ss/python-3.12    # remove before merge
           path: ${{ env.OPEN3D_ML_ROOT }}
       - name: Download wheels
         uses: actions/download-artifact@v4

.github/workflows/windows.yml

@@ -25,6 +25,7 @@ env:
   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: "11.8.0"
   SRC_DIR: "D:\\a\\open3d\\open3d"
   BUILD_DIR: "C:\\Open3D\\build"
   NPROC: 2
@@ -47,7 +48,6 @@ jobs:
             STATIC_RUNTIME: ON
         include:
           - BUILD_CUDA_MODULE: ON
-            CUDA_VERSION: 11.0.3
     env:
       BUILD_WEBRTC: ${{ ( matrix.BUILD_SHARED_LIBS == 'OFF' && matrix.STATIC_RUNTIME == 'ON' ) && 'ON' || 'OFF' }}
 
@@ -64,20 +64,20 @@ jobs:
         if: ${{ matrix.BUILD_CUDA_MODULE == 'ON' }}
         run: |
           # Define variables
-          $CUDA_VER_FULL = "${{ matrix.CUDA_VERSION }}"
+          $CUDA_VER_FULL = "${{ env.CUDA_VERSION }}"
           $CUDA_VER_ARR = $CUDA_VER_FULL.Split(".")
           $CUDA_VER = "$($CUDA_VER_ARR[0]).$($CUDA_VER_ARR[1])"
           $CUDA_VER_ID = "$($CUDA_VER_ARR[0])_$($CUDA_VER_ARR[1])"
           # Installer url
           if ( $CUDA_VER_ARR[0] -ge 11 ) {
-            $CUDA_URL = "http://developer.download.nvidia.com/compute/cuda/$CUDA_VER_FULL/network_installers/cuda_$($CUDA_VER_FULL)_win10_network.exe"
+            $CUDA_URL = "http://developer.download.nvidia.com/compute/cuda/$CUDA_VER_FULL/network_installers/cuda_$($CUDA_VER_FULL)_windows_network.exe"
           } else {
             $CUDA_URL = "http://developer.download.nvidia.com/compute/cuda/$CUDA_VER/Prod/network_installers/cuda_$($CUDA_VER_FULL)_win10_network.exe"
           }
           # Installer arguments
           $CUDA_INSTALL_ARGS = "-s"
           # Required packages
-          $CUDA_PACKAGES = "nvcc", "visual_studio_integration", "cublas", "cublas_dev", "cudart", "cusolver", "cusolver_dev", "npp", "npp_dev"
+          $CUDA_PACKAGES = "nvcc", "visual_studio_integration", "cublas", "cublas_dev", "cudart", "cusolver", "cusolver_dev", "npp", "npp_dev", "thrust"
           $CUDA_PACKAGES.ForEach({ $CUDA_INSTALL_ARGS += " $($_)_$($CUDA_VER)" })
           # Download and install CUDA
           echo "Downloading CUDA installer from $CUDA_URL"
@@ -110,6 +110,7 @@ jobs:
           if (${env:DEVELOPER_BUILD} -ne "OFF") {
             ${env:DEVELOPER_BUILD}="ON"
           }
+          cmake --version
           cmake -G "Visual Studio 16 2019" -A x64 `
             -DDEVELOPER_BUILD="${env:DEVELOPER_BUILD}" `
             -DCMAKE_SYSTEM_VERSION="10.0.19041.0" `
@@ -240,7 +241,7 @@ jobs:
       fail-fast: false
       # https://github.community/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6
       matrix:
-        python_version: ['3.8', '3.9', '3.10', '3.11']
+        python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
@@ -250,6 +251,8 @@ jobs:
             python_version: '3.9'
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
 
     steps:
       - name: Checkout source code
@@ -328,7 +331,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: ['3.8', '3.9', '3.10', '3.11']
+        python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
@@ -338,6 +341,8 @@ jobs:
             python_version: '3.9'
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
 
     steps:
       - name: Checkout source code

3rdparty/README.md

@@ -68,19 +68,14 @@ tinyobjloader                v1.0.0                                  MIT license
 Tiny but powerful single file wavefront obj loader
 https://github.com/syoyo/tinyobjloader
 --------------------------------------------------------------------------------
-pybind11                    v2.6.2                                   BSD license
+pybind11                    v2.13.1                                   BSD license
 Python binding for C++11
 https://github.com/pybind/pybind11
 --------------------------------------------------------------------------------
 PoissonReco                 12.0                                     BSD license
 Poisson Surface Reconstruction
 https://github.com/mkazhdan/PoissonRecon
 --------------------------------------------------------------------------------
-Parallel STL                20190522                            Apache-2 license
-An implementation of the C++ standard library algorithms with support for
-execution policies
-https://github.com/oneapi-src/oneDPL
---------------------------------------------------------------------------------
 CUB                         1.8.0                                    BSD license
 A flexible library of cooperative threadblock primitives and other utilities for
 CUDA kernel programming
@@ -113,7 +108,7 @@ As an alternative, you can modify 3rdparty/zeromq/zeromq_build.cmake to fetch
 zeromq from our fork
 https://github.com/isl-org/libzmq
 --------------------------------------------------------------------------------
-embree                      3.13.0                              Apache-2 license
+embree                      4.3.1                               Apache-2 license
 Embree is a collection of high-performance ray tracing kernels
 https://github.com/embree/embree
 --------------------------------------------------------------------------------

3rdparty/cmake/FindPytorch.cmake

@@ -14,6 +14,20 @@
 #
 # and import the target 'torch'.
 
+# "80-real" to "8.0" and "80" to "8.0+PTX":
+macro(translate_arch_string input output)
+    if("${input}" MATCHES "[0-9]+-real")
+        string(REGEX REPLACE "([1-9])([0-9])-real" "\\1.\\2" version "${input}")
+    elseif("${input}" MATCHES "([0-9]+)")
+        string(REGEX REPLACE "([1-9])([0-9])" "\\1.\\2+PTX" version "${input}")
+    elseif(input STREQUAL "native")
+        set(version "Auto")
+    else()
+        message(FATAL_ERROR "Invalid architecture string: ${input}")
+    endif()
+    set(${output} "${version}")
+endmacro()
+
 if(NOT Pytorch_FOUND)
     # Searching for pytorch requires the python executable
     if (NOT Python3_EXECUTABLE)
@@ -41,6 +55,17 @@ if(NOT Pytorch_FOUND)
     unset(PyTorch_FETCH_PROPERTIES)
     unset(PyTorch_PROPERTIES)
 
+    if(BUILD_CUDA_MODULE)
+    # Using CUDA 12.x and Pytorch <2.4 gives the error "Unknown CUDA Architecture Name 9.0a in CUDA_SELECT_NVCC_ARCH_FLAGS".
+    # As a workaround we explicitly set TORCH_CUDA_ARCH_LIST
+        set(TORCH_CUDA_ARCH_LIST "")
+        foreach(arch IN LISTS CMAKE_CUDA_ARCHITECTURES)
+            translate_arch_string("${arch}" ptarch)
+            list(APPEND TORCH_CUDA_ARCH_LIST "${ptarch}")
+        endforeach()
+        message(STATUS "Using top level CMAKE_CUDA_ARCHITECTURES for TORCH_CUDA_ARCH_LIST: ${TORCH_CUDA_ARCH_LIST}")
+    endif()
+
     # Use the cmake config provided by torch
     find_package(Torch REQUIRED PATHS "${Pytorch_ROOT}"
                  NO_DEFAULT_PATH)

3rdparty/find_dependencies.cmake

@@ -168,6 +168,7 @@ set(ExternalProject_CMAKE_ARGS
     -DCMAKE_CXX_COMPILER_LAUNCHER=${CMAKE_CXX_COMPILER_LAUNCHER}
     -DCMAKE_CUDA_COMPILER_LAUNCHER=${CMAKE_CUDA_COMPILER_LAUNCHER}
     -DCMAKE_OSX_DEPLOYMENT_TARGET=${CMAKE_OSX_DEPLOYMENT_TARGET}
+    -DCMAKE_CUDA_FLAGS=${CMAKE_CUDA_FLAGS}
     -DCMAKE_SYSTEM_VERSION=${CMAKE_SYSTEM_VERSION}
     -DCMAKE_INSTALL_LIBDIR=${Open3D_INSTALL_LIB_DIR}
     # Always build 3rd party code in Release mode. Ignored by multi-config

3rdparty/stdgpu/stdgpu.cmake

@@ -7,8 +7,9 @@ include(ExternalProject)
 ExternalProject_Add(
     ext_stdgpu
     PREFIX stdgpu
-    URL https://github.com/stotko/stdgpu/archive/e10f6f3ccc9902d693af4380c3bcd188ec34a2e6.tar.gz
-    URL_HASH SHA256=7bb2733b099f7cedc86d2aee7830d128ac1222cfafa34cbaa4e818483c0a93f6
+    # Jun 20 2024. Later versions need CUDA 11.5 and an API update (stdgpu::pair)
+    URL https://github.com/stotko/stdgpu/archive/1b6a3319f1fbf180166e1bbc1d75f69ab622a0a0.tar.gz
+    URL_HASH SHA256=faa3bf9cbe49ef9cc09e2e07e60d10bbf3b896edb6089c920bebe0f850fd95e4
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/stdgpu"
     UPDATE_COMMAND ""
     CMAKE_ARGS
@@ -17,6 +18,7 @@ ExternalProject_Add(
         -DSTDGPU_BUILD_SHARED_LIBS=OFF
         -DSTDGPU_BUILD_EXAMPLES=OFF
         -DSTDGPU_BUILD_TESTS=OFF
+        -DSTDGPU_BUILD_BENCHMARKS=OFF
         -DSTDGPU_ENABLE_CONTRACT_CHECKS=OFF
         -DTHRUST_INCLUDE_DIR=${CUDAToolkit_INCLUDE_DIRS}
         ${ExternalProject_CMAKE_ARGS_hidden}

CHANGELOG.md

@@ -40,6 +40,7 @@
 -   `TriangleMesh`'s `+=` operator appends UVs regardless of the presence of existing features (PR #6728)
 -   Fix build with fmt v10.2.0 (#6783)
 -   Fix segmentation fault (lambda reference capture) of VisualizerWithCustomAnimation::Play (PR #6804)
+-   Python 3.12 support
 -   Add O3DVisualizer API to enable collapse control of verts in the side panel (PR #6865)
 -   Split pybind declarations/definitions to avoid C++ types in Python docs (PR #6869)
 -   Fix minimal oriented bounding box of MeshBase derived classes and add new unit tests (PR #6898)

CMakeLists.txt

@@ -387,10 +387,18 @@ cmake_language(EVAL CODE "cmake_language(DEFER CALL open3d_patch_findthreads_mod
 
 # Build CUDA module by default if CUDA is available
 if(BUILD_CUDA_MODULE)
-    if(BUILD_COMMON_CUDA_ARCHS)
-        if (CMAKE_CUDA_ARCHITECTURES)
-            message(STATUS "Building with user-provided architectures: ${CMAKE_CUDA_ARCHITECTURES}")
-        else()
+    # Suppress nvcc unsupported compiler error for MSVC 2022 with CUDA 11.7 to 12.4
+    # https://forums.developer.nvidia.com/t/problems-with-latest-vs2022-update/294150/12
+    if (MSVC AND MSVC_VERSION VERSION_LESS_EQUAL "1949")
+        # Set this before any CUDA checks
+        set(CMAKE_CUDA_FLAGS "--allow-unsupported-compiler" CACHE STRING "Additional flags for nvcc" FORCE)
+        message(WARNING "Using --allow-unsupported-compiler flag for nvcc with MSVC 2022. "
+        "Set $Env:NVCC_PREPEND_FLAGS='--allow-unsupported-compiler' if nvcc still fails.")
+    endif()
+    if (CMAKE_CUDA_ARCHITECTURES)
+        message(STATUS "Building with user-provided CUDA architectures: ${CMAKE_CUDA_ARCHITECTURES}")
+    else()
+        if(BUILD_COMMON_CUDA_ARCHS)
             # Build with all supported architectures for previous 2 generations and
             # M0 (minor=0) architectures for previous generations (including
             # deprecated). Note that cubin for M0 runs on GPUs with architecture Mx.
@@ -410,14 +418,14 @@ if(BUILD_CUDA_MODULE)
                 set(CMAKE_CUDA_ARCHITECTURES 30-real 50-real 60-real 70-real 75)    # Kepler, Maxwell, Pascal, Turing
             endif()
             message(STATUS "Using CUDA architectures: ${CMAKE_CUDA_ARCHITECTURES}")
-        endif()
-    else()
-        execute_process(COMMAND nvidia-smi RESULT_VARIABLE NVIDIA_CHECK OUTPUT_QUIET)
-        if (NVIDIA_CHECK EQUAL 0)
-            message(STATUS "Building with native CUDA architecture.")
-            set(CMAKE_CUDA_ARCHITECTURES native)
         else()
-            message(WARNING "No CUDA GPU detected. Building with CMake default CUDA architecture.")
+            execute_process(COMMAND nvidia-smi RESULT_VARIABLE NVIDIA_CHECK OUTPUT_QUIET)
+            if (NVIDIA_CHECK EQUAL 0)
+                message(STATUS "Building with native CUDA architecture.")
+                set(CMAKE_CUDA_ARCHITECTURES native)
+            else()
+                message(WARNING "No CUDA GPU detected. Building with CMake default CUDA architecture.")
+            endif()
         endif()
     endif()
     enable_language(CUDA)

cpp/open3d/t/geometry/RaycastingScene.cpp

@@ -33,7 +33,8 @@ typedef Eigen::Vector3f Vec3f;
 
 // Error function called by embree.
 void ErrorFunction(void* userPtr, enum RTCError error, const char* str) {
-    open3d::utility::LogError("embree error: {} {}", error, str);
+    open3d::utility::LogError("Embree error: {} {}", rtcGetErrorString(error),
+                              str);
 }
 
 // Checks the last dim, ensures that the number of dims is >= min_ndim, checks

cpp/open3d/t/io/file_format/FileASSIMP.cpp

@@ -245,7 +245,7 @@ bool WriteTriangleMeshUsingASSIMP(const std::string& filename,
     if (mesh.HasTriangleColors()) {
         utility::LogWarning(
                 "Exporting triangle colors is not supported. Please convert to "
-                "vertex colors or export to a format that supporst it.");
+                "vertex colors or export to a format that supports it.");
     }
 
     Assimp::Exporter exporter;

cpp/pybind/core/tensor_converter.cpp

@@ -106,10 +106,10 @@ Tensor PyArrayToTensor(py::array array, bool inplace) {
     Dtype dtype = pybind_utils::ArrayFormatToDtype(info.format, info.itemsize);
     Device device("CPU:0");
 
-    array.inc_ref();
-    std::function<void(void*)> deleter = [array](void*) -> void {
+    auto shared_array = std::make_shared<py::array>(array);
+    std::function<void(void*)> deleter = [shared_array](void*) mutable -> void {
         py::gil_scoped_acquire acquire;
-        array.dec_ref();
+        shared_array.reset();
     };
     auto blob = std::make_shared<Blob>(device, info.ptr, deleter);
     Tensor t_inplace(shape, strides, info.ptr, dtype, blob);