Merge branch 'main' into nicolaloi/fix-custom-trajectory

isl-org · Jun 14, 2024 · 7dc5ce7 · 7dc5ce7
2 parents 7843ece + 0bdedd3
commit 7dc5ce7
Show file tree

Hide file tree

Showing 33 changed files with 509 additions and 23 deletions.
diff --git a/.github/workflows/clean-gcloud-profiles.yml b/.github/workflows/clean-gcloud-profiles.yml
@@ -16,14 +16,11 @@
 # happens, run this workflow manually to clean up the login profiles.
 
 name: Clean GCloud Profiles
+permissions:
+  contents: read
 
 on:
   workflow_dispatch:
-  # push:
-  #   branches:
-  #     - main
-  # pull_request:
-  #   types: [opened, reopened, synchronize]
 
 env:
   GCE_GPU_CI_SA: ${{ secrets.GCE_GPU_CI_SA }}

diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml
@@ -1,4 +1,7 @@
 name: Documentation
+permissions:
+  contents: write
+  actions: write
 
 on:
   workflow_dispatch:

diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
@@ -1,4 +1,7 @@
 name: MacOS
+permissions:
+  contents: write
+  actions: write
 
 on:
   workflow_dispatch:

diff --git a/.github/workflows/style.yml b/.github/workflows/style.yml
@@ -1,4 +1,7 @@
 name: Style Check
+permissions:
+  contents: read
+  actions: write
 
 on:
   workflow_dispatch:

diff --git a/.github/workflows/ubuntu-cuda.yml b/.github/workflows/ubuntu-cuda.yml
@@ -1,4 +1,7 @@
 name: Ubuntu CUDA
+permissions:
+  contents: write
+  actions: write
 
 on:
   workflow_dispatch:

diff --git a/.github/workflows/ubuntu-openblas.yml b/.github/workflows/ubuntu-openblas.yml
@@ -1,4 +1,7 @@
 name: Ubuntu OpenBLAS
+permissions:
+  contents: read
+  actions: write
 
 on:
   workflow_dispatch:

diff --git a/.github/workflows/ubuntu-sycl.yml b/.github/workflows/ubuntu-sycl.yml
@@ -1,4 +1,7 @@
 name: Ubuntu SYCL
+permissions:
+  contents: read
+  actions: write
 
 on:
   workflow_dispatch:

diff --git a/.github/workflows/ubuntu-wheel.yml b/.github/workflows/ubuntu-wheel.yml
@@ -1,4 +1,7 @@
 name: Ubuntu Wheel
+permissions:
+  contents: write
+  actions: write
 
 on:
   workflow_dispatch:
@@ -102,7 +105,7 @@ jobs:
         run: |
           gsutil cp ${GITHUB_WORKSPACE}/${{ env.CCACHE_TAR_NAME }}.tar.gz gs://open3d-ci-cache/
       - name: Update devel release
-        # if: ${{ github.ref == 'refs/heads/main' }}
+        if: ${{ github.ref == 'refs/heads/main' }}
         env:
           GH_TOKEN: ${{ github.token }}
         run: |

diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
@@ -1,4 +1,7 @@
 name: Ubuntu
+permissions:
+  contents: write
+  actions: write
 
 on:
   workflow_dispatch:

diff --git a/.github/workflows/vtk_packages.yml b/.github/workflows/vtk_packages.yml
@@ -1,8 +1,8 @@
 name: VTK Packages
+permissions:
+  contents: write
 
 on:
-  # pull_request:
-    # branches: [ main ]
   # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
 

diff --git a/.github/workflows/webrtc.yml b/.github/workflows/webrtc.yml
@@ -1,4 +1,7 @@
 name: WebRTC
+permissions:
+  contents: write
+  actions: write
 
 on:
   workflow_dispatch:

diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
@@ -1,4 +1,7 @@
 name: Windows
+permissions:
+  contents: write
+  actions: write
 
 on:
   workflow_dispatch:

diff --git a/3rdparty/find_dependencies.cmake b/3rdparty/find_dependencies.cmake
@@ -1554,7 +1554,9 @@ if(OPEN3D_USE_ONEAPI_PACKAGES)
         TARGETS TBB::tbb
     )
     list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_SYSTEM Open3D::3rdparty_tbb)
-
+    target_compile_definitions(3rdparty_tbb INTERFACE OPEN3D_USE_ONEAPI_PACKAGES=1)
+    target_compile_definitions(3rdparty_tbb INTERFACE _PSTL_UDR_PRESENT=0)
+    target_compile_definitions(3rdparty_tbb INTERFACE _PSTL_UDS_PRESENT=0)
     # 2. oneDPL
     # /opt/intel/oneapi/dpl/latest/lib/cmake/oneDPL
     open3d_find_package_3rdparty_library(3rdparty_onedpl

diff --git a/3rdparty/fmt/fmt.cmake b/3rdparty/fmt/fmt.cmake
@@ -2,16 +2,20 @@ include(ExternalProject)
 
 set(FMT_LIB_NAME fmt)
 
-if (MSVC OR CMAKE_CXX_COMPILER_ID MATCHES "IntelLLVM")
-    # MSVC has errors when building fmt >6, up till 9.1
-    # SYCL / DPC++ needs fmt ver <=6 or >= 9.2: https://github.com/fmtlib/fmt/issues/3005
-    set(FMT_VER "6.0.0")
-    set(FMT_SHA256
-        "f1907a58d5e86e6c382e51441d92ad9e23aea63827ba47fd647eacc0d3a16c78")
+if (MSVC AND BUILD_CUDA_MODULE)
+    if (MSVC_VERSION GREATER_EQUAL 1930)  # v143
+        set(FMT_VER "10.1.1")
+        set(FMT_SHA256
+            "78b8c0a72b1c35e4443a7e308df52498252d1cefc2b08c9a97bc9ee6cfe61f8b")
+    else()
+        set(FMT_VER "6.0.0")
+        set(FMT_SHA256
+            "f1907a58d5e86e6c382e51441d92ad9e23aea63827ba47fd647eacc0d3a16c78")
+    endif()
 else()
-    set(FMT_VER "9.0.0")
+    set(FMT_VER "10.2.1")
     set(FMT_SHA256
-        "9a1e0e9e843a356d65c7604e2c8bf9402b50fe294c355de0095ebd42fb9bd2c5")
+        "1250e4cc58bf06ee631567523f48848dc4596133e163f02615c97f78bab6c811")
 endif()
 
 ExternalProject_Add(

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -37,6 +37,7 @@
 -   Fix KDTreeFlann possibly using a dangling pointer instead of internal storage and simplified its members (PR #6734)
 -   Fix RANSAC early stop if no inliers in a specific iteration (PR #6789)
 -   Fix segmentation fault (infinite recursion) of DetectPlanarPatches if multiple points have same coordinates (PR #6794)
+-   Fix build with fmt v10.2.0 (#6783)
 -   Fix segmentation fault (lambda reference capture) of VisualizerWithCustomAnimation::Play (PR #6804)
 
 ## 0.13

diff --git a/SECURITY.md b/SECURITY.md
@@ -0,0 +1,5 @@
+# Security Policy
+Intel is committed to rapidly addressing security vulnerabilities affecting our customers and providing clear guidance on the solution, impact, severity and mitigation. 
+
+## Reporting a Vulnerability
+Please report any security vulnerabilities in this project utilizing the guidelines [here](https://www.intel.com/content/www/us/en/security-center/vulnerability-handling-guidelines.html).
diff --git a/cpp/open3d/core/DLPack.h b/cpp/open3d/core/DLPack.h
@@ -188,4 +188,56 @@ typedef struct DLManagedTensor {
 #ifdef __cplusplus
 }  // DLPACK_EXTERN_C
 #endif
+
+#include <fmt/core.h>
+#include <fmt/format.h>
+
+namespace fmt {
+
+template <>
+struct formatter<DLDeviceType> {
+    template <typename FormatContext>
+    auto format(const DLDeviceType& c, FormatContext& ctx) const
+            -> decltype(ctx.out()) {
+        const char* text = nullptr;
+        switch (c) {
+            case kDLCPU:
+                text = "kDLCPU";
+                break;
+            case kDLGPU:
+                text = "kDLGPU";
+                break;
+            case kDLCPUPinned:
+                text = "kDLCPUPinned";
+                break;
+            case kDLOpenCL:
+                text = "kDLOpenCL";
+                break;
+            case kDLVulkan:
+                text = "kDLVulkan";
+                break;
+            case kDLMetal:
+                text = "kDLMetal";
+                break;
+            case kDLVPI:
+                text = "kDLVPI";
+                break;
+            case kDLROCM:
+                text = "kDLROCM";
+                break;
+            case kDLExtDev:
+                text = "kDLExtDev";
+                break;
+        }
+        return format_to(ctx.out(), text);
+    }
+
+    template <typename ParseContext>
+    constexpr auto parse(ParseContext& ctx) -> decltype(ctx.begin()) {
+        return ctx.begin();
+    }
+};
+
+}  // namespace fmt
+
 #endif  // DLPACK_DLPACK_H_
diff --git a/cpp/open3d/core/linalg/LinalgHeadersCUDA.h b/cpp/open3d/core/linalg/LinalgHeadersCUDA.h
@@ -16,4 +16,107 @@
 #include <cublas_v2.h>
 #include <cusolverDn.h>
 #include <cusolver_common.h>
+#include <fmt/core.h>
+#include <fmt/format.h>
+
+namespace fmt {
+
+template <>
+struct formatter<cusolverStatus_t> {
+    template <typename FormatContext>
+    auto format(const cusolverStatus_t& c, FormatContext& ctx) const
+            -> decltype(ctx.out()) {
+        const char* text = nullptr;
+        switch (c) {
+            case CUSOLVER_STATUS_SUCCESS:
+                text = "CUSOLVER_STATUS_SUCCESS";
+                break;
+            case CUSOLVER_STATUS_NOT_INITIALIZED:
+                text = "CUSOLVER_STATUS_NOT_INITIALIZED";
+                break;
+            case CUSOLVER_STATUS_ALLOC_FAILED:
+                text = "CUSOLVER_STATUS_ALLOC_FAILED";
+                break;
+            case CUSOLVER_STATUS_INVALID_VALUE:
+                text = "CUSOLVER_STATUS_INVALID_VALUE";
+                break;
+            case CUSOLVER_STATUS_ARCH_MISMATCH:
+                text = "CUSOLVER_STATUS_ARCH_MISMATCH";
+                break;
+            case CUSOLVER_STATUS_MAPPING_ERROR:
+                text = "CUSOLVER_STATUS_MAPPING_ERROR";
+                break;
+            case CUSOLVER_STATUS_EXECUTION_FAILED:
+                text = "CUSOLVER_STATUS_EXECUTION_FAILED";
+                break;
+            case CUSOLVER_STATUS_INTERNAL_ERROR:
+                text = "CUSOLVER_STATUS_INTERNAL_ERROR";
+                break;
+            case CUSOLVER_STATUS_MATRIX_TYPE_NOT_SUPPORTED:
+                text = "CUSOLVER_STATUS_MATRIX_TYPE_NOT_SUPPORTED";
+                break;
+            case CUSOLVER_STATUS_NOT_SUPPORTED:
+                text = "CUSOLVER_STATUS_NOT_SUPPORTED";
+                break;
+            case CUSOLVER_STATUS_ZERO_PIVOT:
+                text = "CUSOLVER_STATUS_ZERO_PIVOT";
+                break;
+            case CUSOLVER_STATUS_INVALID_LICENSE:
+                text = "CUSOLVER_STATUS_INVALID_LICENSE";
+                break;
+            case CUSOLVER_STATUS_IRS_PARAMS_NOT_INITIALIZED:
+                text = "CUSOLVER_STATUS_IRS_PARAMS_NOT_INITIALIZED";
+                break;
+            case CUSOLVER_STATUS_IRS_PARAMS_INVALID:
+                text = "CUSOLVER_STATUS_IRS_PARAMS_INVALID";
+                break;
+            case CUSOLVER_STATUS_IRS_PARAMS_INVALID_PREC:
+                text = "CUSOLVER_STATUS_IRS_PARAMS_INVALID_PREC";
+                break;
+            case CUSOLVER_STATUS_IRS_PARAMS_INVALID_REFINE:
+                text = "CUSOLVER_STATUS_IRS_PARAMS_INVALID_REFINE";
+                break;
+            case CUSOLVER_STATUS_IRS_PARAMS_INVALID_MAXITER:
+                text = "CUSOLVER_STATUS_IRS_PARAMS_INVALID_MAXITER";
+                break;
+            case CUSOLVER_STATUS_IRS_INTERNAL_ERROR:
+                text = "CUSOLVER_STATUS_IRS_INTERNAL_ERROR";
+                break;
+            case CUSOLVER_STATUS_IRS_NOT_SUPPORTED:
+                text = "CUSOLVER_STATUS_IRS_NOT_SUPPORTED";
+                break;
+            case CUSOLVER_STATUS_IRS_OUT_OF_RANGE:
+                text = "CUSOLVER_STATUS_IRS_OUT_OF_RANGE";
+                break;
+            case CUSOLVER_STATUS_IRS_NRHS_NOT_SUPPORTED_FOR_REFINE_GMRES:
+                text = "CUSOLVER_STATUS_IRS_NRHS_NOT_SUPPORTED_FOR_REFINE_"
+                       "GMRES";
+                break;
+            case CUSOLVER_STATUS_IRS_INFOS_NOT_INITIALIZED:
+                text = "CUSOLVER_STATUS_IRS_INFOS_NOT_INITIALIZED";
+                break;
+            case CUSOLVER_STATUS_IRS_INFOS_NOT_DESTROYED:
+                text = "CUSOLVER_STATUS_IRS_INFOS_NOT_DESTROYED";
+                break;
+            case CUSOLVER_STATUS_IRS_MATRIX_SINGULAR:
+                text = "CUSOLVER_STATUS_IRS_MATRIX_SINGULAR";
+                break;
+            case CUSOLVER_STATUS_INVALID_WORKSPACE:
+                text = "CUSOLVER_STATUS_INVALID_WORKSPACE";
+                break;
+            default:
+                text = "CUSOLVER_STATUS_UNKNOWN";
+                break;
+        }
+        return format_to(ctx.out(), text);
+    }
+
+    template <typename ParseContext>
+    constexpr auto parse(ParseContext& ctx) -> decltype(ctx.begin()) {
+        return ctx.begin();
+    }
+};
+
+}  // namespace fmt
+
 #endif
diff --git a/cpp/open3d/geometry/LineSetFactory.cpp b/cpp/open3d/geometry/LineSetFactory.cpp
@@ -170,6 +170,25 @@ std::shared_ptr<LineSet> LineSet::CreateCameraVisualization(
     lines->lines_.push_back({4, 1});
     lines->PaintUniformColor({0.0f, 0.0f, 1.0f});
 
+    // Add XYZ axes
+    lines->points_.push_back(
+            mult(m, Eigen::Vector3d{intrinsic(0, 0) * scale, 0.0, 0.0}));
+    lines->points_.push_back(
+            mult(m, Eigen::Vector3d{0.0, intrinsic(1, 1) * scale, 0.0}));
+    lines->points_.push_back(
+            mult(m, Eigen::Vector3d{intrinsic(0, 2) * scale,
+                                    intrinsic(1, 2) * scale, scale}));
+
+    // Add lines for the axes
+    lines->lines_.push_back({0, 5});  // X axis (red)
+    lines->lines_.push_back({0, 6});  // Y axis (green)
+    lines->lines_.push_back({0, 7});  // Z axis (blue)
+
+    // Set colors for the axes
+    lines->colors_.push_back({1.0f, 0.0f, 0.0f});  // Red
+    lines->colors_.push_back({0.0f, 1.0f, 0.0f});  // Green
+    lines->colors_.push_back({0.0f, 0.0f, 1.0f});  // Blue
+
     return lines;
 }
 

diff --git a/cpp/open3d/io/IJsonConvertibleIO.h b/cpp/open3d/io/IJsonConvertibleIO.h
@@ -82,7 +82,7 @@ bool WriteIJsonConvertibleToJSONString(std::string &json_string,
                 [&str](const std::pair<ENUM_TYPE, std::string> &es_pair)  \
                         -> bool { return es_pair.second == str; });       \
         e = ((it != std::end(m)) ? it : std::begin(m))->first;            \
-        utility::LogDebug("{} -> {}", str, e);                            \
+        utility::LogDebug("{} -> {}", str, enum_to_string(e));            \
     }
 
 }  // namespace io