SYCL wheel packaging

Do not use lld - linker errors
Add dpcpp-cpp-rt as python dependency for sycl wheel. Update DSO rpath to use python venv DSOs.
numpy>=2 is OK
sycl docs

CMakeLists.txt

@@ -292,19 +292,9 @@ endif()
 if(BUILD_SYCL_MODULE AND NOT GLIBCXX_USE_CXX11_ABI)
     message(FATAL_ERROR "BUILD_SYCL_MODULE=ON requires GLIBCXX_USE_CXX11_ABI=ON")
 endif()
-# if(BUILD_SYCL_MODULE AND BUILD_TENSORFLOW_OPS)
-#     message(FATAL_ERROR "BUILD_SYCL_MODULE=ON requires BUILD_TENSORFLOW_OPS=OFF")
-# endif()
-# if(BUILD_SYCL_MODULE AND BUILD_PYTORCH_OPS)
-#     message(FATAL_ERROR "BUILD_SYCL_MODULE=ON requires BUILD_PYTORCH_OPS=OFF")
-# endif()
 if(BUILD_SYCL_MODULE AND BUILD_CUDA_MODULE)
     message(FATAL_ERROR "BUILD_SYCL_MODULE and BUILD_SYCL_MODULE cannot be on at the same time for now.")
 endif()
-# Use LLD with icpx for faster linking
-if (CMAKE_CXX_COMPILER_ID MATCHES "IntelLLVM")
-    add_link_options("-fuse-ld=lld")
-endif()
 
 # Global flag to set CXX standard.
 # This does not affect 3rd party libraries.

cmake/Open3DSetGlobalProperties.cmake

@@ -25,15 +25,16 @@ function(open3d_enable_strip target)
     endif()
 endfunction()
 
-# RPATH handling (for TBB DSO). Check current folder, one folder above and the lib sibling folder 
+# RPATH handling (for TBB DSO). Check current folder, one folder above and the lib sibling folder. 
+# Also check the Python virtual env /lib folder for 3rd party dependency libraries installed with `pip install`
 set(CMAKE_BUILD_RPATH_USE_ORIGIN ON)
 if (APPLE)
-# Add options to cover the various ways in which open3d shaed lib or apps can be installed wrt TBB DSO
-    set(CMAKE_INSTALL_RPATH "@loader_path;@loader_path/../;@loader_path/../lib/")
+# Add options to cover the various ways in which open3d shared lib or apps can be installed wrt TBB DSO
+    set(CMAKE_INSTALL_RPATH "@loader_path;@loader_path/../;@loader_path/../lib/;@loader_path/../../../../")
 # pybind with open3d shared lib is copied, not cmake-installed, so we need to add .. to build rpath 
     set(CMAKE_BUILD_RPATH "@loader_path/../")   
 elseif(UNIX)
-    set(CMAKE_INSTALL_RPATH "$ORIGIN;$ORIGIN/../;$ORIGIN/../lib/")
+    set(CMAKE_INSTALL_RPATH "$ORIGIN;$ORIGIN/../;$ORIGIN/../lib/;$ORIGIN/../../../../")
     set(CMAKE_BUILD_RPATH "$ORIGIN/../")
 endif()
 

cpp/open3d/core/Indexer.h

@@ -638,7 +638,7 @@ class Indexer {
 class IndexerIterator {
 public:
     struct Iterator {
-        Iterator() {};
+        Iterator(){};
         Iterator(const Indexer& indexer);
         Iterator(Iterator&& other) = default;
 

cpp/open3d/core/SYCLContext.cpp

@@ -19,6 +19,8 @@ namespace open3d {
 namespace core {
 namespace sy {
 
+OPEN3D_DLL_LOCAL std::string GetDeviceTypeName(const sycl::device &device);
+
 SYCLContext &SYCLContext::GetInstance() {
     static thread_local SYCLContext instance;
     return instance;
@@ -46,6 +48,7 @@ SYCLDevice::SYCLDevice(const sycl::device &sycl_device) {
     device = sycl_device;
     queue = sycl::queue(device);
     name = device.get_info<sid::name>();
+    device_type = GetDeviceTypeName(device);
     max_work_group_size = device.get_info<sid::max_work_group_size>();
     auto aspects = device.get_info<sid::aspects>();
     fp64 = std::find(aspects.begin(), aspects.end(), sycl::aspect::fp64) !=

cpp/open3d/core/SYCLContext.h

@@ -27,6 +27,7 @@ namespace sy {
 struct SYCLDevice {
     SYCLDevice(const sycl::device& sycl_device);
     std::string name;            ///< Fiendlly / descriptive name of the device.
+    std::string device_type;     ///< cpu, gpu, host, acc, custom, unknown.
     sycl::device device;         ///< SYCL device.
     sycl::queue queue;           ///< Default queue for this device.
     size_t max_work_group_size;  ///< Preferred work group size

cpp/open3d/core/SYCLUtils.cpp

@@ -84,7 +84,7 @@ int SYCLDemo() {
 
 #ifdef BUILD_SYCL_MODULE
 
-static std::string GetDeviceTypeName(const sycl::device &device) {
+OPEN3D_DLL_LOCAL std::string GetDeviceTypeName(const sycl::device &device) {
     auto device_type = device.get_info<sycl::info::device::device_type>();
     switch (device_type) {
         case sycl::info::device_type::cpu:
@@ -95,6 +95,8 @@ static std::string GetDeviceTypeName(const sycl::device &device) {
             return "host";
         case sycl::info::device_type::accelerator:
             return "acc";
+        case sycl::info::device_type::custom:
+            return "custom";
         default:
             return "unknown";
     }
@@ -210,6 +212,20 @@ bool IsDeviceAvailable(const Device &device) {
 #endif
 }
 
+std::string GetDeviceType(const Device &device) {
+#ifdef BUILD_SYCL_MODULE
+    if (IsDeviceAvailable(device)) {
+        return SYCLContext::GetInstance()
+                .GetDeviceProperties(device)
+                .device_type;
+    } else {
+        return "";
+    }
+#else
+    return "";
+#endif
+}
+
 std::vector<Device> GetAvailableSYCLDevices() {
 #ifdef BUILD_SYCL_MODULE
     return SYCLContext::GetInstance().GetAvailableSYCLDevices();

cpp/open3d/core/SYCLUtils.h

@@ -37,6 +37,10 @@ bool IsAvailable();
 /// Returns true if the specified SYCL device is available.
 bool IsDeviceAvailable(const Device& device);
 
+/// Returns the device type (cpu / gpu / accelerator / custom) of the specified
+/// device as a string. Returns empty string if the device is not available.
+std::string GetDeviceType(const Device& device);
+
 /// Return a list of available SYCL devices.
 std::vector<Device> GetAvailableSYCLDevices();
 

cpp/pybind/CMakeLists.txt

@@ -233,6 +233,7 @@ add_custom_target(python-package
             -DOPEN3D_ML_ROOT=${OPEN3D_ML_ROOT}
             -DBUILD_GUI=${BUILD_GUI}
             -DBUILD_CUDA_MODULE=${BUILD_CUDA_MODULE}
+            -DBUILD_SYCL_MODULE=${BUILD_SYCL_MODULE}
             -DGUI_RESOURCE_DIR=${GUI_RESOURCE_DIR}
             -DPROJECT_EMAIL=${PROJECT_EMAIL}
             -DPROJECT_HOMEPAGE_URL=${PROJECT_HOMEPAGE_URL}

cpp/pybind/core/sycl_utils.cpp

@@ -33,6 +33,11 @@ void pybind_sycl_utils_definitions(py::module& m) {
                "Enables the JIT cache for SYCL. This sets an environment "
                "variable and "
                "will affect the entire process and any child processes.");
+
+    m_sycl.def("get_device_type", sy::GetDeviceType, "device"_a,
+               "Returns the device type (cpu / gpu / accelerator / custom) of "
+               "the specified device as a string. Returns empty string if the "
+               "device is not available.");
 }
 
 }  // namespace core

cpp/pybind/make_python_package.cmake

@@ -77,6 +77,7 @@ if (BUNDLE_OPEN3D_ML)
     file(RENAME "${PYTHON_PACKAGE_DST_DIR}/open3d/ml3d" "${PYTHON_PACKAGE_DST_DIR}/open3d/_ml3d")
 endif()
 
+set(requirement_files ${PYTHON_PACKAGE_SRC_DIR}/requirements.txt)
 # Build Jupyter plugin.
 if (BUILD_JUPYTER_EXTENSION)
     if (WIN32 OR UNIX AND NOT LINUX_AARCH64)
@@ -113,17 +114,19 @@ if (BUILD_JUPYTER_EXTENSION)
                             "npm install -g yarn.")
     endif()
 
-    # Append requirements_jupyter_install.txt to requirements.txt
-    # These will be installed when `pip install open3d`.
-    execute_process(COMMAND ${CMAKE_COMMAND} -E cat
-        ${PYTHON_PACKAGE_SRC_DIR}/requirements.txt
-        ${PYTHON_PACKAGE_SRC_DIR}/requirements_jupyter_install.txt
-        OUTPUT_VARIABLE ALL_REQUIREMENTS
-    )
-    # The double-quote "" is important as it keeps the semicolons.
-    file(WRITE ${PYTHON_PACKAGE_DST_DIR}/requirements.txt "${ALL_REQUIREMENTS}")
+    list(APPEND requirement_files 
+        ${PYTHON_PACKAGE_SRC_DIR}/requirements_jupyter_install.txt)
+endif()
+
+if (BUILD_SYCL_MODULE)
+    list(APPEND requirement_files ${PYTHON_PACKAGE_SRC_DIR}/requirements_sycl.txt)
 endif()
 
+# These will be installed when the user does `pip install open3d`.
+ execute_process(COMMAND ${CMAKE_COMMAND} -E cat ${requirement_files}
+        OUTPUT_FILE ${PYTHON_PACKAGE_DST_DIR}/requirements.txt
+    )
+
 if (BUILD_GUI)
     file(MAKE_DIRECTORY "${PYTHON_PACKAGE_DST_DIR}/open3d/resources/")
     file(COPY ${GUI_RESOURCE_DIR}

cpp/tests/core/CoreTest.cpp

@@ -59,9 +59,12 @@ std::vector<core::Device> PermuteDevicesWithSYCL::TestCases() {
     std::vector<core::Device> devices = PermuteDevices::TestCases();
     std::vector<core::Device> sycl_devices =
             core::Device::GetAvailableSYCLDevices();
-    if (!sycl_devices.empty()) {
-        // devices.push_back(sycl_devices[0]);  // only the first SYCL device
-        devices.insert(devices.end(), sycl_devices.begin(), sycl_devices.end());
+    // Skip the last SYCL device - this is the CPU fallback and support is
+    // untested.
+    if (sycl_devices.size() > 1) {
+        devices.push_back(sycl_devices[0]);
+        // devices.insert(devices.end(), sycl_devices.begin(),
+        // sycl_devices.end());
     }
     return devices;
 }

cpp/tests/core/Linalg.cpp

@@ -482,6 +482,9 @@ TEST_P(LinalgPermuteDevices, LeastSquares) {
     const float EPSILON = 1e-5;
 
     core::Device device = GetParam();
+    if (sy::GetDeviceType(device) == "cpu") {
+        GTEST_SKIP() << "MKL unsupported SYCL device.";
+    }
     core::Dtype dtype = core::Float32;
 
     // Solve test.

cpp/tests/core/Tensor.cpp

@@ -2245,6 +2245,11 @@ TEST_P(TensorPermuteDevicesWithSYCL, ReduceMaxFloatLimit) {
 
 TEST_P(TensorPermuteDevicesWithSYCL, ReduceArgMin) {
     core::Device device = GetParam();
+    if (core::sy::GetDeviceType(device) == "cpu") {
+        GTEST_SKIP() << "allocateMemSubBuffer() API failed with unknown error "
+                        "on CPU.";
+    }
+
     core::Tensor src = core::Tensor::Init<float>(
             {{{22, 23, 20, 9}, {6, 14, 18, 13}, {15, 3, 17, 0}},
              {{7, 21, 11, 1}, {4, 2, 10, 19}, {5, 8, 16, 12}}},
@@ -2273,6 +2278,10 @@ TEST_P(TensorPermuteDevicesWithSYCL, ReduceArgMin) {
 
 TEST_P(TensorPermuteDevicesWithSYCL, ReduceArgMax) {
     core::Device device = GetParam();
+    if (core::sy::GetDeviceType(device) == "cpu") {
+        GTEST_SKIP() << "allocateMemSubBuffer() API failed with unknown error "
+                        "on CPU.";
+    }
     core::Tensor src = core::Tensor::Init<float>(
             {{{22, 23, 20, 9}, {6, 14, 18, 13}, {15, 3, 17, 0}},
              {{7, 21, 11, 1}, {4, 2, 10, 19}, {5, 8, 16, 12}}},

docker/Dockerfile.ci

@@ -88,10 +88,14 @@ RUN apt-get update && apt-get install -y \
     libffi-dev \
     liblzma-dev \
  && if [ "${BUILD_SYCL_MODULE}" = "ON" ]; then \
-        apt-get install -y g++-11; \
+         add-apt-repository -y ppa:ubuntu-toolchain-r/test \
+        && apt-get install -y g++-11 \
+        && update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-11 11 \
+        && update-alternatives --set g++ /usr/bin/g++-11 \
+        && c++ -v; \
     fi \
  && rm -rf /var/lib/apt/lists/*
-# OneDPL TBB backend requires libstdc++ >= v11
+# OneDPL TBB backend requires libstdc++ >= v11. This makes the created wheel UBuntu 22.04+ only.
 
 # pyenv
 # The pyenv python paths are used during docker run, in this way docker run

docker/docker_build.sh

@@ -456,12 +456,12 @@ sycl-shared_export_env() {
     export BUILD_CUDA_MODULE=OFF
     export BUILD_TENSORFLOW_OPS=ON
     export BUILD_PYTORCH_OPS=ON
-    export PACKAGE=OFF
+    export PACKAGE=ON
     export BUILD_SYCL_MODULE=ON
 
-    export IGC_EnableDPEmulation=1          # Enable float64 emulation during compilation
-    export SYCL_CACHE_PERSISTENT=1          # Cache SYCL kernel binaries.
-    export OverrideDefaultFP64Settings=1    # Enable double precision emulation at runtime.
+    export IGC_EnableDPEmulation=1       # Enable float64 emulation during compilation
+    export SYCL_CACHE_PERSISTENT=1       # Cache SYCL kernel binaries.
+    export OverrideDefaultFP64Settings=1 # Enable double precision emulation at runtime.
 }
 
 sycl-static_export_env() {
@@ -480,9 +480,9 @@ sycl-static_export_env() {
     export PACKAGE=OFF
     export BUILD_SYCL_MODULE=ON
 
-    export IGC_EnableDPEmulation=1          # Enable float64 emulation during compilation
-    export SYCL_CACHE_PERSISTENT=1          # Cache SYCL kernel binaries.
-    export OverrideDefaultFP64Settings=1    # Enable double precision emulation at runtime.
+    export IGC_EnableDPEmulation=1       # Enable float64 emulation during compilation
+    export SYCL_CACHE_PERSISTENT=1       # Cache SYCL kernel binaries.
+    export OverrideDefaultFP64Settings=1 # Enable double precision emulation at runtime.
 }
 
 function main() {

docs/index.rst

@@ -24,6 +24,7 @@ Open3D: A Modern Library for 3D Data Processing
     builddocs
     docker
     arm
+    sycl
     open3d_ml
 
 .. toctree::