Merge branch 'main' into nicolaloi/feature_select_by_index

3rdparty/cmake/FindPytorch.cmake

@@ -20,7 +20,7 @@ macro(translate_arch_string input output)
         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 "${input}")
-    elseif(input STREQUAL "native")
+    elseif("${input}" STREQUAL "native")
         set(version "Auto")
     else()
         message(FATAL_ERROR "Invalid architecture string: ${input}")

3rdparty/embree/embree.cmake

@@ -64,6 +64,16 @@ else()
 endif()
 
 
+if(BUILD_SYCL_MODULE)
+    set(ISA_ARGS ${ISA_ARGS} -DCMAKE_CXX_COMPILER=icpx)
+    set(ISA_ARGS ${ISA_ARGS} -DCMAKE_C_COMPILER=icx)
+    set(ISA_ARGS ${ISA_ARGS} -DEMBREE_SYCL_SUPPORT=ON)
+    list(APPEND ISA_LIBS embree4_sycl ze_wrapper)
+    list(APPEND ISA_BUILD_BYPRODUCTS "<INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}embree4_sycl${CMAKE_STATIC_LIBRARY_SUFFIX}"
+                                    "<INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}ze_wrapper${CMAKE_STATIC_LIBRARY_SUFFIX}")
+endif()
+
+
 ExternalProject_Add(
     ext_embree
     PREFIX embree
@@ -92,10 +102,11 @@ ExternalProject_Add(
         <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}sys${CMAKE_STATIC_LIBRARY_SUFFIX}
         <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}math${CMAKE_STATIC_LIBRARY_SUFFIX}
         <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}tasking${CMAKE_STATIC_LIBRARY_SUFFIX}
+        <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}ze_wrapper${CMAKE_STATIC_LIBRARY_SUFFIX}
         ${ISA_BUILD_BYPRODUCTS}
 )
 
 ExternalProject_Get_Property(ext_embree INSTALL_DIR)
 set(EMBREE_INCLUDE_DIRS ${INSTALL_DIR}/include/ ${INSTALL_DIR}/src/ext_embree/) # "/" is critical.
 set(EMBREE_LIB_DIR ${INSTALL_DIR}/${Open3D_INSTALL_LIB_DIR})
-set(EMBREE_LIBRARIES embree4 ${ISA_LIBS} simd lexers sys math tasking)
+set(EMBREE_LIBRARIES embree4 simd lexers sys math tasking ${ISA_LIBS})

3rdparty/find_dependencies.cmake

@@ -1384,7 +1384,7 @@ if(BUILD_GUI)
                                   ${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 " 
+                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()
@@ -1697,7 +1697,7 @@ else(OPEN3D_USE_ONEAPI_PACKAGES)
             INCLUDE_DIRS ${STATIC_MKL_INCLUDE_DIR}
             LIB_DIR      ${STATIC_MKL_LIB_DIR}
             LIBRARIES    ${STATIC_MKL_LIBRARIES}
-            DEPENDS      ext_tbb ext_mkl_include ext_mkl
+            DEPENDS      Open3D::3rdparty_tbb ext_mkl_include ext_mkl
         )
         if(UNIX)
             target_compile_options(3rdparty_blas INTERFACE "$<$<COMPILE_LANGUAGE:CXX>:-m64>")
@@ -1719,7 +1719,7 @@ else(OPEN3D_USE_ONEAPI_PACKAGES)
     endif()
     if(NOT USE_SYSTEM_TBB)
         include(${Open3D_3RDPARTY_DIR}/mkl/tbb.cmake)
-        list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_CUSTOM TBB::tbb)
+        list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_CUSTOM Open3D::3rdparty_tbb)
     else()
         list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_SYSTEM Open3D::3rdparty_tbb)
     endif()

3rdparty/mkl/tbb.cmake

@@ -38,3 +38,4 @@ install(TARGETS tbb EXPORT ${PROJECT_NAME}Targets
   RUNTIME DESTINATION ${Open3D_INSTALL_BIN_DIR}
   COMPONENT tbb
 )
+add_library(${PROJECT_NAME}::3rdparty_tbb ALIAS tbb)

CHANGELOG.md

@@ -51,6 +51,7 @@
 -   Fix tensor EstimatePointWiseNormalsWithFastEigen3x3 (PR #6980)
 -   Fix alpha shape reconstruction if alpha too small for point scale (PR #6998)
 -   Fix render to depth image on Apple Retina displays (PR #7001)
+-   Fix infinite loop in segment_plane if num_points < ransac_n (PR #7032)
 -   Add select_by_index method to Feature class (PR #7039)
 
 ## 0.13

cpp/open3d/Macro.h

@@ -10,6 +10,9 @@
 #include <cassert>
 
 // https://gcc.gnu.org/wiki/Visibility updated to use C++11 attribute syntax
+// In Open3D, we set symbol visibility based on folder / cmake target through
+// cmake. e.g. all symbols in kernel folders are hidden. These macros allow fine
+// grained control over symbol visibility.
 #if defined(_WIN32) || defined(__CYGWIN__)
 #define OPEN3D_DLL_IMPORT __declspec(dllimport)
 #define OPEN3D_DLL_EXPORT __declspec(dllexport)

cpp/open3d/core/Device.cpp

@@ -137,7 +137,7 @@ std::vector<Device> Device::GetAvailableCUDADevices() {
 }
 
 std::vector<Device> Device::GetAvailableSYCLDevices() {
-    return sycl::GetAvailableSYCLDevices();
+    return sy::GetAvailableSYCLDevices();
 }
 
 void Device::PrintAvailableDevices() {

cpp/open3d/core/Device.h

@@ -21,7 +21,7 @@ class Device {
     enum class DeviceType {
         CPU = 0,
         CUDA = 1,
-        SYCL = 2,  // SYCL gpu_selector().
+        SYCL = 2,  // SYCL gpu_selector_v.
     };
 
     /// Default constructor -> "CPU:0".

cpp/open3d/core/MemoryManagerSYCL.cpp

@@ -5,8 +5,8 @@
 // SPDX-License-Identifier: MIT
 // ----------------------------------------------------------------------------
 
-#include <CL/sycl.hpp>
 #include <cstdlib>
+#include <sycl/sycl.hpp>
 #include <unordered_map>
 
 #include "open3d/core/Device.h"
@@ -18,24 +18,22 @@
 namespace open3d {
 namespace core {
 
-namespace sy = cl::sycl;
-
 void* MemoryManagerSYCL::Malloc(size_t byte_size, const Device& device) {
-    const sy::queue& queue =
-            sycl::SYCLContext::GetInstance().GetDefaultQueue(device);
+    const sycl::queue& queue =
+            sy::SYCLContext::GetInstance().GetDefaultQueue(device);
 
 #ifdef ENABLE_SYCL_UNIFIED_SHARED_MEMORY
-    return static_cast<void*>(sy::malloc_shared(byte_size, queue));
+    return static_cast<void*>(sycl::malloc_shared(byte_size, queue));
 #else
-    return static_cast<void*>(sy::malloc_device(byte_size, queue));
+    return static_cast<void*>(sycl::malloc_device(byte_size, queue));
 #endif
 }
 
 void MemoryManagerSYCL::Free(void* ptr, const Device& device) {
     if (ptr) {
-        const sy::queue& queue =
-                sycl::SYCLContext::GetInstance().GetDefaultQueue(device);
-        sy::free(ptr, queue);
+        const sycl::queue& queue =
+                sy::SYCLContext::GetInstance().GetDefaultQueue(device);
+        sycl::free(ptr, queue);
     }
 }
 
@@ -62,8 +60,8 @@ void MemoryManagerSYCL::Memcpy(void* dst_ptr,
                           dst_device.ToString());
     }
 
-    sy::queue queue =
-            sycl::SYCLContext::GetInstance().GetDefaultQueue(device_with_queue);
+    sycl::queue queue =
+            sy::SYCLContext::GetInstance().GetDefaultQueue(device_with_queue);
     queue.memcpy(dst_ptr, src_ptr, num_bytes).wait_and_throw();
 }
 

cpp/open3d/core/SYCLContext.cpp

@@ -7,17 +7,17 @@
 
 #include "open3d/core/SYCLContext.h"
 
-#include <CL/sycl.hpp>
 #include <array>
 #include <cstdlib>
 #include <sstream>
+#include <sycl/sycl.hpp>
 
 #include "open3d/core/SYCLUtils.h"
 #include "open3d/utility/Logging.h"
 
 namespace open3d {
 namespace core {
-namespace sycl {
+namespace sy {
 
 SYCLContext &SYCLContext::GetInstance() {
     static thread_local SYCLContext instance;
@@ -38,36 +38,37 @@ bool SYCLContext::IsDeviceAvailable(const Device &device) {
 }
 std::vector<Device> SYCLContext::GetAvailableSYCLDevices() { return devices_; }
 
-sy::queue SYCLContext::GetDefaultQueue(const Device &device) {
+sycl::queue SYCLContext::GetDefaultQueue(const Device &device) {
     return device_to_default_queue_.at(device);
 }
 
 SYCLContext::SYCLContext() {
     // SYCL GPU.
     // TODO: Currently we only support one GPU device.
     try {
-        const sy::device &sycl_device = sy::device(sy::gpu_selector());
+        const sycl::device &sycl_device = sycl::device(sycl::gpu_selector_v);
         const Device open3d_device = Device("SYCL:0");
         devices_.push_back(open3d_device);
         device_to_sycl_device_[open3d_device] = sycl_device;
-        device_to_default_queue_[open3d_device] = sy::queue(sycl_device);
-    } catch (const sy::exception &e) {
+        device_to_default_queue_[open3d_device] = sycl::queue(sycl_device);
+    } catch (const sycl::exception &e) {
     }
 
     if (devices_.size() == 0) {
         // SYCL CPU fallback.
         // This could happen if the Intel GPGPU driver is not installed or if
         // your CPU does not have integrated GPU.
         try {
-            const sy::device &sycl_device = sy::device(sy::host_selector());
+            const sycl::device &sycl_device =
+                    sycl::device(sycl::cpu_selector_v);
             const Device open3d_device = Device("SYCL:0");
             utility::LogWarning(
                     "SYCL GPU device is not available, falling back to SYCL "
                     "host device.");
             devices_.push_back(open3d_device);
             device_to_sycl_device_[open3d_device] = sycl_device;
-            device_to_default_queue_[open3d_device] = sy::queue(sycl_device);
-        } catch (const sy::exception &e) {
+            device_to_default_queue_[open3d_device] = sycl::queue(sycl_device);
+        } catch (const sycl::exception &e) {
         }
     }
 
@@ -76,6 +77,6 @@ SYCLContext::SYCLContext() {
     }
 }
 
-}  // namespace sycl
+}  // namespace sy
 }  // namespace core
 }  // namespace open3d

cpp/open3d/core/SYCLContext.h

@@ -14,16 +14,14 @@
 
 #pragma once
 
-#include <CL/sycl.hpp>
+#include <sycl/sycl.hpp>
 #include <unordered_map>
 
 #include "open3d/core/Device.h"
 
 namespace open3d {
 namespace core {
-namespace sycl {
-
-namespace sy = cl::sycl;
+namespace sy {
 
 /// Singleton SYCL context manager. It maintains:
 /// - A default queue for each SYCL device
@@ -45,7 +43,7 @@ class SYCLContext {
     std::vector<Device> GetAvailableSYCLDevices();
 
     /// Get the default SYCL queue given an Open3D device.
-    sy::queue GetDefaultQueue(const Device& device);
+    sycl::queue GetDefaultQueue(const Device& device);
 
 private:
     SYCLContext();
@@ -54,12 +52,12 @@ class SYCLContext {
     std::vector<Device> devices_;
 
     /// Maps core::Device to the corresponding default SYCL queue.
-    std::unordered_map<Device, sy::queue> device_to_default_queue_;
+    std::unordered_map<Device, sycl::queue> device_to_default_queue_;
 
-    /// Maps core::Device to sy::device. Internal use only for now.
-    std::unordered_map<Device, sy::device> device_to_sycl_device_;
+    /// Maps core::Device to sycl::device. Internal use only for now.
+    std::unordered_map<Device, sycl::device> device_to_sycl_device_;
 };
 
-}  // namespace sycl
+}  // namespace sy
 }  // namespace core
 }  // namespace open3d