Use CUDA 12.1 everywhere. Final cleanup.

Update and sort library list in 3rdparty/README.md
isl-org · Oct 4, 2024 · 712412f · 712412f
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diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
@@ -405,7 +405,7 @@ jobs:
         uses: actions/checkout@v4
         with:
           repository: isl-org/Open3D-ML
-          ref: ss/python-3.12    # remove before merge
+          ref: main
           path: ${{ env.OPEN3D_ML_ROOT }}
 
       - name: Download wheels

diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
@@ -25,7 +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"
+  CUDA_VERSION: "12.1.0"
   SRC_DIR: "D:\\a\\open3d\\open3d"
   BUILD_DIR: "C:\\Open3D\\build"
   NPROC: 2

diff --git a/3rdparty/README.md b/3rdparty/README.md
@@ -8,134 +8,138 @@ system dependencies.
 
 ```txt
 --------------------------------------------------------------------------------
+benchmark                   1.5.5                               Apache-2 license
+A microbenchmark support library
+https://github.com/google/benchmark
+--------------------------------------------------------------------------------
+boringssl:                  edfe413            Dual OpenSSL, SSLeay, ISC license
+BoringSSL is a fork of OpenSSL that is designed to meet Google's needs.
+https://github.com/google/boringssl
+--------------------------------------------------------------------------------
+CUB                         1.8.0                                    BSD license
+A flexible library of cooperative threadblock primitives and other utilities for
+CUDA kernel programming
+https://github.com/NVlabs/cub
+--------------------------------------------------------------------------------
+cppzmq                      4.6.0                                    MIT license
+Header-only C++ binding for libzmq
+https://github.com/zeromq/cppzmq
+As an alternative, you can modify 3rdparty/zeromq/zeromq_build.cmake to fetch
+zeromq from our fork
+https://github.com/isl-org/libzmq
+--------------------------------------------------------------------------------
+curl                        7.88.0                                  Curl license
+Curl is a command-line tool for transferring data specified with URL syntax.
+https://github.com/curl/curl
+--------------------------------------------------------------------------------
+CUTLASS                     1.3.3                                    BSD license
+CUDA Templates for Linear Algebra Subroutines
+https://github.com/NVIDIA/cutlass
+--------------------------------------------------------------------------------
+dirent                      1.21                                     MIT license
+https://github.com/tronkko/dirent
+A C/C++ programming interface for cross-platform filesystem
+--------------------------------------------------------------------------------
+DirectX-Headers           v1.606.3                                   MIT license
+Official DirectX headers available under an open source license
+https://github.com/microsoft/DirectX-Headers
+--------------------------------------------------------------------------------
+DirectXMath                may2022                                   MIT license
+DirectXMath is an all inline SIMD C++ linear algebra library for use in games
+and graphics apps
+https://github.com/microsoft/DirectXMath
+--------------------------------------------------------------------------------
 Eigen                       3.4                              Mainly MPL2 license
 A high-level C++ library of template headers for linear algebra, matrix and
 vector operations, numerical solvers and related algorithms
 http://eigen.tuxfamily.org/
 --------------------------------------------------------------------------------
-GLFW                        3.3.0 (dev)                      zlib/libpng license
-A cross-platform library for creating windows with OpenGL contexts and receiving
-input and events
-http://www.glfw.org/
+embree                      4.3.1                               Apache-2 license
+Embree is a collection of high-performance ray tracing kernels
+https://github.com/embree/embree
+--------------------------------------------------------------------------------
+flann                       1.8.4                                    BSD license
+A C++ library for performing fast approximate nearest neighbor searches in high
+dimensional spaces
+http://www.cs.ubc.ca/research/flann/
 --------------------------------------------------------------------------------
 GLEW                        2.1.0                                    MIT License
 A cross-platform open-source C/C++ extension loading library
 http://glew.sourceforge.net/
 --------------------------------------------------------------------------------
-RPly                        1.1.3                                    MIT license
-A library to read and write PLY files
-http://w3.impa.br/~diego/software/rply/
---------------------------------------------------------------------------------
-zlib                        1.2.8                                   zlib license
-A lossless data-compression library used by libpng
-http://www.zlib.net/
---------------------------------------------------------------------------------
-libpng                      1.6.18                                libpng license
-The free reference library for reading and writing PNGs
-http://www.libpng.org/
---------------------------------------------------------------------------------
-libjpeg                     9a                                   libjpeg license
-A widely used C library for reading and writing JPEG image files
-http://libjpeg.sourceforge.net/
+GLFW                        3.3.0 (dev)                      zlib/libpng license
+A cross-platform library for creating windows with OpenGL contexts and receiving
+input and events
+http://www.glfw.org/
 --------------------------------------------------------------------------------
 jsoncpp                     1.8.4                                    MIT license
 A C++ library that allows manipulating JSON values
 https://github.com/open-source-parsers/jsoncpp
 --------------------------------------------------------------------------------
-flann                       1.8.4                                    BSD license
-A C++ library for performing fast approximate nearest neighbor searches in high
-dimensional spaces
-http://www.cs.ubc.ca/research/flann/
+libjpeg-turbo                2.1.5.1                           BSD-style license
+A widely used C library for reading and writing JPEG image files
+https://github.com/libjpeg-turbo/libjpeg-turbo
 --------------------------------------------------------------------------------
-dirent                      1.21                                     MIT license
-https://github.com/tronkko/dirent
-A C/C++ programming interface for cross-platform filesystem
+libpng                      1.6.37                                libpng license
+The free reference library for reading and writing PNGs
+http://www.libpng.org/
 --------------------------------------------------------------------------------
 librealsense                2.44.0                               Apache-2 license
 A cross-platform library for capturing data from the Intel RealSense F200,
 SR300, R200 and L500 cameras
 https://github.com/IntelRealSense/librealsense
 --------------------------------------------------------------------------------
-tinyfiledialogs             2.7.2                                   zlib license
-A lightweight cross-platform file dialog library
-https://sourceforge.net/projects/tinyfiledialogs/
---------------------------------------------------------------------------------
-tinygltf                    v2.2.0                                   MIT license
-Header only C++11 tiny glTF 2.0 library
-https://github.com/syoyo/tinygltf
---------------------------------------------------------------------------------
-tinyobjloader                v1.0.0                                  MIT license
-Tiny but powerful single file wavefront obj loader
-https://github.com/syoyo/tinyobjloader
---------------------------------------------------------------------------------
-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
+libzmq                      4.3.3         LGPLv3 + static link exception license
+ZeroMQ is a high-performance asynchronous messaging library
+https://github.com/zeromq/libzmq
 --------------------------------------------------------------------------------
-CUB                         1.8.0                                    BSD license
-A flexible library of cooperative threadblock primitives and other utilities for
-CUDA kernel programming
-https://github.com/NVlabs/cub
+msgpack-c                   3.3.0                     Boost Software License 1.0
+MessagePack implementation for C and C++
+https://github.com/msgpack/msgpack-c/tree/cpp_master
 --------------------------------------------------------------------------------
 nanoflann                   1.3.1                                    BSD license
 A C++11 header-only library for Nearest Neighbor (NN) search with KD-trees
 https://github.com/jlblancoc/nanoflann
 --------------------------------------------------------------------------------
-CUTLASS                     1.3.3                                    BSD license
-CUDA Templates for Linear Algebra Subroutines
-https://github.com/NVIDIA/cutlass
+PoissonReco                 12.0                                     BSD license
+Poisson Surface Reconstruction
+https://github.com/mkazhdan/PoissonRecon
 --------------------------------------------------------------------------------
-benchmark                   1.5.0                               Apache-2 license
-A microbenchmark support library
-https://github.com/google/benchmark
+pybind11                    v2.13.1                                  BSD license
+Python binding for C++11
+https://github.com/pybind/pybind11
 --------------------------------------------------------------------------------
-msgpack-c                   da2fc25f8                 Boost Software License 1.0
-MessagePack implementation for C and C++
-https://github.com/msgpack/msgpack-c/tree/cpp_master
+RPly                        1.1.3                                    MIT license
+A library to read and write PLY files
+http://w3.impa.br/~diego/software/rply/
 --------------------------------------------------------------------------------
-libzmq                      4.3.2         LGPLv3 + static link exception license
-ZeroMQ is a high-performance asynchronous messaging library
-https://github.com/zeromq/libzmq
+stdgpu                       1b6a3319                         Apache-2.0 license
+Efficient STL-like Data Structures on the GPU
+https://github.com/stotko/stdgpu/
 --------------------------------------------------------------------------------
-cppzmq                      4.6.0                                    MIT license
-Header-only C++ binding for libzmq
-https://github.com/zeromq/cppzmq
-As an alternative, you can modify 3rdparty/zeromq/zeromq_build.cmake to fetch
-zeromq from our fork
-https://github.com/isl-org/libzmq
+tinyfiledialogs             2.7.2                                   zlib license
+A lightweight cross-platform file dialog library
+https://sourceforge.net/projects/tinyfiledialogs/
 --------------------------------------------------------------------------------
-embree                      4.3.1                               Apache-2 license
-Embree is a collection of high-performance ray tracing kernels
-https://github.com/embree/embree
+tinygltf                    72f4a55                                  MIT license
+Header only C++11 tiny glTF 2.0 library
+https://github.com/syoyo/tinygltf
 --------------------------------------------------------------------------------
-curl                        7.79.1                                  Curl license
-Curl is a command-line tool for transferring data specified with URL syntax.
-https://github.com/curl/curl
+tinyobjloader                v1.0.0                                  MIT license
+Tiny but powerful single file wavefront obj loader
+https://github.com/syoyo/tinyobjloader
 --------------------------------------------------------------------------------
-boringssl:                  edfe413            Dual OpenSSL, SSLeay, ISC license
-BoringSSL is a fork of OpenSSL that is designed to meet Google's needs.
-https://github.com/google/boringssl
+UVAtlas                    may2022                                   MIT license
+UVAtlas isochart texture atlas
+https://github.com/microsoft/uvatlas
 --------------------------------------------------------------------------------
 vtk                            9.1                                   BSD license
 The Visualization Toolkit (VTK)
 https://gitlab.kitware.com/vtk/vtk
 --------------------------------------------------------------------------------
-DirectX-Headers           v1.606.3                                   MIT license
-Official DirectX headers available under an open source license
-https://github.com/microsoft/DirectX-Headers
---------------------------------------------------------------------------------
-DirectXMath                may2022                                   MIT license
-DirectXMath is an all inline SIMD C++ linear algebra library for use in games
-and graphics apps
-https://github.com/microsoft/DirectXMath
---------------------------------------------------------------------------------
-UVAtlas                    may2022                                   MIT license
-UVAtlas isochart texture atlas
-https://github.com/microsoft/uvatlas
+zlib                        1.2.13                                   zlib license
+A lossless data-compression library used by libpng
+http://www.zlib.net/
 --------------------------------------------------------------------------------
 ```
 

diff --git a/docker/Dockerfile.ci b/docker/Dockerfile.ci
@@ -153,8 +153,7 @@ RUN CCACHE_DIR=$(ccache -p | grep cache_dir | grep -oE "[^ ]+$") \
 # Checkout Open3D-ML main branch
 # TODO: We may add support for local Open3D-ML repo or pinned ML repo tag
 ENV OPEN3D_ML_ROOT=/root/Open3D-ML
-# Remove branch before merge
-RUN git clone --depth 1 --branch ss/python-3.12 https://github.com/isl-org/Open3D-ML.git ${OPEN3D_ML_ROOT}
+RUN git clone --depth 1 https://github.com/isl-org/Open3D-ML.git ${OPEN3D_ML_ROOT}
 
 # Open3D repo
 # Always keep /root/Open3D as the WORKDIR

diff --git a/docker/Dockerfile.wheel b/docker/Dockerfile.wheel
@@ -1,5 +1,5 @@
 # FROM must be called before other ARGS except for ARG BASE_IMAGE
-ARG BASE_IMAGE=nvidia/cuda:11.8.0-cudnn8-devel-ubuntu20.04
+ARG BASE_IMAGE=nvidia/cuda:12.1.0-cudnn8-devel-ubuntu20.04
 FROM ${BASE_IMAGE}
 
 # Customizable build arguments from cuda.yml
@@ -98,8 +98,7 @@ RUN which python \
 # Checkout Open3D-ML main branch
 # TODO: We may add support for local Open3D-ML repo or pinned ML repo tag
 ENV OPEN3D_ML_ROOT=/root/Open3D-ML
-# Remove branch before merge
-RUN git clone --depth 1 --branch ss/python-3.12 https://github.com/isl-org/Open3D-ML.git ${OPEN3D_ML_ROOT}
+RUN git clone --depth 1 https://github.com/isl-org/Open3D-ML.git ${OPEN3D_ML_ROOT}
 
 # Open3D C++ dependencies
 # Done before copying the full Open3D directory for better Docker caching

diff --git a/docker/README.md b/docker/README.md
@@ -26,7 +26,7 @@ to install Nvidia Docker to run the CUDA container.
 To verify that the Nvidia Docker is working, run:
 
 ```bash
-docker run --rm --gpus all nvidia/cuda:11.8-base nvidia-smi
+docker run --rm --gpus all nvidia/cuda:12.1-base nvidia-smi
 ```
 
 ### ARM64 Docker

diff --git a/docs/arm.rst b/docs/arm.rst
@@ -71,7 +71,7 @@ commands:
     ./docker_build.sh openblas-arm64-py39   # Python 3.9
     ./docker_build.sh openblas-arm64-py310  # Python 3.10
     ./docker_build.sh openblas-arm64-py311  # Python 3.11
-    ./docker_build.sh openblas-arm64-py311  # Python 3.12
+    ./docker_build.sh openblas-arm64-py312  # Python 3.12
 
 After running ``docker_build.sh``, you shall see a ``.whl`` file generated the
 current directly on the host. Then simply install the ``.whl`` file by:

diff --git a/util/ci_utils.sh b/util/ci_utils.sh
@@ -27,9 +27,6 @@ LOW_MEM_USAGE=${LOW_MEM_USAGE:-OFF}
 # ML
 TENSORFLOW_VER="2.16.2"
 TORCH_VER="2.2.2"
-TORCH_CPU_GLNX_VER="${TORCH_VER}+cpu"
-TORCH_CUDA_GLNX_VER="${TORCH_VER}+cu118" # match CUDA_VERSION in docker/docker_build.sh
-TORCH_MACOS_VER="${TORCH_VER}"
 TORCH_REPO_URL="https://download.pytorch.org/whl/torch/"
 # Python
 PIP_VER="23.2.1"