Merge branch 'isl-org:main' into mesh-fill-holes-normals

.clang-format

@@ -2,7 +2,7 @@ BasedOnStyle: Google
 IndentWidth: 4
 ColumnLimit: 80
 UseTab: Never
-Standard: c++14
+Standard: c++17
 ContinuationIndentWidth: 8
 AccessModifierOffset: -4
 BinPackParameters: false

.github/workflows/documentation.yml

@@ -1,7 +1,5 @@
 name: Documentation
-permissions:
-  contents: write
-  actions: write
+permissions: {}
 
 on:
   workflow_dispatch:
@@ -21,8 +19,9 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  headless-docs:
-    # Build headless and docs
+  headless-docs:   # Build headless and docs
+    permissions:
+      contents: write  # Artifact upload and release upload
     runs-on: ubuntu-latest  # Warn about build issues in new versions
     env:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
@@ -78,52 +77,25 @@ jobs:
           ccache -s
           source util/ci_utils.sh
           build_docs "$DEVELOPER_BUILD"
+          # PWD: Open3D/docs
           ccache -s
+          tar_file="open3d-${GITHUB_SHA}-docs.tar.gz"
+          rm -rf "${GITHUB_WORKSPACE}/${tar_file}"
+          # Docs in docs/_out/html
+          tar -C _out -cvzf "${GITHUB_WORKSPACE}/${tar_file}" html
 
       - name: Upload docs
         uses: actions/upload-artifact@v4
         with:
-          name: open3d_docs
-          path: docs/_out/html
+          name: open3d-${{ github.sha }}-docs.tar.gz
+          path: open3d-${{ github.sha }}-docs.tar.gz
           if-no-files-found: error
+          compression-level: 0 # no compression
 
-      - name: Deploy docs if all artifacts available
+      - name: Update devel release
         if: ${{ github.ref == 'refs/heads/main' }}
         env:
           GH_TOKEN: ${{ github.token }}
         run: |
-          tar_file="open3d-${GITHUB_SHA}-docs.tar.gz"
-          rm -rf ${tar_file}
-          # Docs in docs/_out/html
-          tar -C docs/_out -cvzf ${tar_file} html
-
-          echo "Waiting for other release assets..."
-          this_sha=$(echo ${GITHUB_SHA} | cut -c 1-6)
-          n_this_sha_assets=$(gh release view main-devel --json assets --jq ".assets | map(select(.name | contains(\"${this_sha}\"))) | length")
-          # Total assets from each main branch commmit:
-          # Python wheels (4x4) + Viewer (3) + C++ libs (4+2+2) = 27,
-          while ((n_this_sha_assets < 27)); do
-              sleep 60
-              echo -n "."
-              n_this_sha_assets=$(gh release view main-devel --json assets --jq ".assets | map(select(.name | contains(\"${this_sha}\"))) | length")
-          done
-          gh release upload main-devel ${tar_file} --clobber
-          gh release view main-devel
-
-          echo "\nAll assets ready. Removing release assets except from last 3 commits: ${last_shas[@]}"
-          release_assets=($(gh release view main-devel --json assets --jq '.assets[] | .name'))
-          last_shas=($(git log --pretty=format:%h --abbrev-commit -n 3))
-          for relass in "${release_assets[@]}"; do
-              found=false
-              for last_sha in "${last_shas[@]}"; do
-                  if [[ $relass == *${last_sha}* ]]; then
-                      found=true
-                  fi
-              done
-              if [ $found == false ]; then
-                  set -x
-                  gh release delete-asset main-devel $relass
-                  set +x
-              fi
-          done
+          gh release upload main-devel open3d-${{ github.sha }}-docs.tar.gz --clobber
           gh release view main-devel

.github/workflows/macos.yml

@@ -1,7 +1,5 @@
 name: MacOS
-permissions:
-  contents: write
-  actions: write
+permissions: {}
 
 on:
   workflow_dispatch:
@@ -28,6 +26,8 @@ env:
 
 jobs:
   MacOS:
+    permissions:
+      contents: write  # upload
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
@@ -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: |
@@ -139,6 +139,8 @@ jobs:
           if-no-files-found: error
 
   fuse-viewer:
+    permissions:
+      contents: write  # Release upload
     name: Fuse x64 and ARM64 viewer app
     runs-on: [macos-12]
     needs: [MacOS]
@@ -182,6 +184,8 @@ jobs:
 
   build-wheel:
     name: Build wheel
+    permissions:
+      contents: write  # upload
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
@@ -190,7 +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:
@@ -205,9 +209,13 @@ jobs:
             python_version: '3.9'
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
 
     env:
       BUILD_CUDA_MODULE: OFF
+      # TensorFlow v2.16 does not support Python 3.8
+      BUILD_TENSORFLOW_OPS: ${{ matrix.python_version == '3.8' && 'OFF' || 'ON' }}
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
     steps:
       - name: Checkout source code
@@ -287,20 +295,33 @@ jobs:
           path: build/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }}
           if-no-files-found: error
 
+      - name: Update devel release (x86_64 only wheels)
+        if: ${{ github.ref == 'refs/heads/main' && (matrix.python_version == '3.8' || matrix.python_version == '3.9') }}
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          gh release upload main-devel build/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }} --clobber
+          gh release view main-devel
+
+
   fuse-wheel:
     name: Fuse universal2 wheel
+    permissions:
+      contents: write  # Release upload
     runs-on: [macos-12]
     needs: [build-wheel]
     strategy:
       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:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
     steps:
       - name: Checkout source code  # for gh release upload
         uses: actions/checkout@v4
@@ -330,11 +351,8 @@ jobs:
           PYTAG="-cp$(echo ${{ env.python_version }} | tr -d '.')"
           mkdir universal_wheels
           pip install delocate
-          delocate-fuse -v x64_wheels/open3d-*${PYTAG}*.whl arm64_wheels/open3d-*${PYTAG}*.whl
-          # Normalize file name as delocate-fuse doesn't update it
-          OLD_WHL_NAME=$(basename x64_wheels/open3d-*${PYTAG}*.whl)
-          NEW_WHL_NAME=${OLD_WHL_NAME/x86_64/universal2}
-          mv x64_wheels/${OLD_WHL_NAME} universal_wheels/${NEW_WHL_NAME}
+          delocate-merge -v -w universal_wheels x64_wheels/open3d-*${PYTAG}*.whl arm64_wheels/open3d-*${PYTAG}*.whl
+          NEW_WHL_NAME=$(basename universal_wheels/open3d-*${PYTAG}*.whl)
           echo "PIP_PKG_NAME=$NEW_WHL_NAME" >> $GITHUB_ENV
 
       - name: Upload merged wheels
@@ -354,13 +372,15 @@ jobs:
 
   test-wheel:
     name: Test wheel
+    permissions:
+      contents: read
     runs-on: ${{ matrix.os }}
     needs: [build-wheel]
     strategy:
       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:
@@ -374,6 +394,8 @@ 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
@@ -385,6 +407,7 @@ jobs:
         uses: actions/checkout@v4
         with:
           repository: isl-org/Open3D-ML
+          ref: main
           path: ${{ env.OPEN3D_ML_ROOT }}
 
       - name: Download wheels

.github/workflows/style.yml

@@ -1,7 +1,5 @@
 name: Style Check
-permissions:
-  contents: read
-  actions: write
+permissions: {}
 
 on:
   workflow_dispatch:
@@ -17,6 +15,8 @@ concurrency:
 
 jobs:
   style-check:
+    permissions:
+      contents: read
     runs-on: ubuntu-latest
     steps:
       - name: Checkout source code

.github/workflows/ubuntu-cuda.yml

@@ -1,7 +1,5 @@
 name: Ubuntu CUDA
-permissions:
-  contents: write
-  actions: write
+permissions: {}
 
 on:
   workflow_dispatch:
@@ -14,8 +12,7 @@ on:
     branches:
       - main
   pull_request:
-    # Reduce CI frequency for paid CI.
-    types: [review_requested]
+    types: [opened, reopened, synchronize]
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
@@ -30,6 +27,8 @@ jobs:
   skip-check:
     runs-on: ubuntu-latest
     name: Skip job for forks
+    permissions:
+      contents: read
     outputs:
       skip: ${{ steps.check.outputs.skip }}
     steps:
@@ -46,22 +45,24 @@ jobs:
 
   build-and-run-docker:
     name: Build and run
+    permissions:
+      contents: write   # upload
     runs-on: ubuntu-latest
     needs: [skip-check]
     if: needs.skip-check.outputs.skip == 'no'
     strategy:
       fail-fast: false
       matrix:
         include:
-          - CI_CONFIG: 2-bionic
-          - CI_CONFIG: 3-ml-shared-bionic
-          - CI_CONFIG: 4-shared-bionic
-          - CI_CONFIG: 5-ml-focal
+          - CI_CONFIG: 2-focal
+          - CI_CONFIG: 3-ml-shared-focal
+          - CI_CONFIG: 4-shared-focal
+          - CI_CONFIG: 5-ml-jammy
     env:
       # Export everything from matrix to be easily used.
       # Docker tag and ccache names must be consistent with docker_build.sh
       CI_CONFIG          : ${{ matrix.CI_CONFIG }}
-      BUILD_PACKAGE      : ${{ contains(fromJson('["3-ml-shared-bionic", "4-shared-bionic"]'), matrix.CI_CONFIG) }}
+      BUILD_PACKAGE      : ${{ contains(fromJson('["3-ml-shared-focal", "4-shared-focal"]'), matrix.CI_CONFIG) }}
       GCE_INSTANCE_PREFIX: open3d-ci-${{ matrix.CI_CONFIG }}
       DOCKER_TAG         : open3d-ci:${{ matrix.CI_CONFIG }}
       CCACHE_TAR_NAME    : open3d-ci-${{ matrix.CI_CONFIG }}

.github/workflows/ubuntu-openblas.yml

@@ -1,16 +1,13 @@
 name: Ubuntu OpenBLAS
-permissions:
-  contents: read
-  actions: write
+permissions: {}
 
 on:
   workflow_dispatch:
   push:
     branches:
       - main
   pull_request:
-    # Reduce CI frequency for paid CI.
-    types: [review_requested]
+    types: [opened, reopened, synchronize]
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
@@ -22,6 +19,8 @@ env:
 
 jobs:
   openblas-amd64:
+    permissions:
+      contents: read
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
@@ -57,6 +56,8 @@ jobs:
           fi
 
   openblas-arm64:
+    permissions:
+      contents: read
     runs-on: ubuntu-latest
     needs: [skip-arm64-check-on-fork]
     if: needs.skip-arm64-check-on-fork.outputs.skip == 'no'

.github/workflows/ubuntu-sycl.yml

@@ -1,7 +1,5 @@
 name: Ubuntu SYCL
-permissions:
-  contents: read
-  actions: write
+permissions: {}
 
 on:
   workflow_dispatch:
@@ -21,6 +19,8 @@ env:
 
 jobs:
   ubuntu-sycl:
+    permissions:
+      contents: read
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false