initial SYCL build system and examples (#5081)

.github/workflows/macos.yml

@@ -31,7 +31,7 @@ jobs:
       matrix:
         CONFIG: [ON, OFF]
     env:
-      SHARED: ${{ matrix.CONFIG }}
+      BUILD_SHARED_LIBS: ${{ matrix.CONFIG }}
       BUILD_CUDA_MODULE: OFF
       BUILD_TENSORFLOW_OPS: ${{ matrix.CONFIG }}
       BUILD_PYTORCH_OPS: ${{ matrix.CONFIG }}
@@ -68,7 +68,7 @@ jobs:
           DEVEL_PKG_NAME="$(basename package/open3d-devel-*.tar.xz)"
           echo "DEVEL_PKG_NAME=$DEVEL_PKG_NAME" >> $GITHUB_ENV
       - name: Build Open3D viewer app
-        if: ${{ env.SHARED == 'OFF' }}
+        if: ${{ env.BUILD_SHARED_LIBS == 'OFF' }}
         run: |
           PATH=/usr/local/var/homebrew/linked/ccache/libexec:$PATH
           pushd build
@@ -78,15 +78,15 @@ jobs:
           ccache -s
 
       - name: Upload package
-        if: ${{ env.SHARED == 'ON' }}
+        if: ${{ env.BUILD_SHARED_LIBS == 'ON' }}
         uses: actions/upload-artifact@v2
         with:
           name: open3d-devel-macosx
           path: build/package/${{ env.DEVEL_PKG_NAME }}
           if-no-files-found: error
 
       - name: GCloud CLI setup
-        if: ${{ github.ref == 'refs/heads/master' && env.SHARED == 'ON' }}
+        if: ${{ github.ref == 'refs/heads/master' && env.BUILD_SHARED_LIBS == 'ON' }}
         # https://github.com/GoogleCloudPlatform/github-actions/issues/100#issuecomment-650798308
         uses: google-github-actions/[email protected]
         with:
@@ -96,14 +96,14 @@ jobs:
           export_default_credentials: true
 
       - name: Upload package to GCS bucket
-        if: ${{ github.ref == 'refs/heads/master' && env.SHARED == 'ON' }}
+        if: ${{ github.ref == 'refs/heads/master' && env.BUILD_SHARED_LIBS == 'ON' }}
         run: |
           gsutil cp build/package/${{ env.DEVEL_PKG_NAME }} gs://open3d-releases-master/devel/
           echo "Download devel package at: https://storage.googleapis.com/open3d-releases-master/devel/${{ env.DEVEL_PKG_NAME }}"
 
       - name: Upload Open3D viewer app
         uses: actions/upload-artifact@v2
-        if: ${{ env.SHARED == 'OFF' }}
+        if: ${{ env.BUILD_SHARED_LIBS == 'OFF' }}
         with:
           name: open3d-app-macosx-10_15
           path: build/bin/open3d-app-macosx-10_15.zip

.github/workflows/ubuntu-sycl.yml

@@ -0,0 +1,57 @@
+name: Ubuntu SYCL
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    types: [opened, reopened, synchronize]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
+env:
+  NPROC: 2
+  GCE_CLI_GHA_VERSION: "302.0.0"
+
+jobs:
+  ubuntu-sycl:
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+        BUILD_SHARED_LIBS: [ON, OFF]
+    steps:
+      - name: Checkout source code
+        uses: actions/checkout@v2
+      - name: Maximize build space
+        run: |
+          source util/ci_utils.sh
+          maximize_ubuntu_github_actions_build_space
+      - name: Docker build
+        run: |
+          if [ "${{ matrix.BUILD_SHARED_LIBS }}" = "ON" ]; then
+            docker/docker_build.sh sycl-shared
+          else
+            docker/docker_build.sh sycl-static
+          fi
+      - name: Docker test
+        run: |
+          if [ "${{ matrix.BUILD_SHARED_LIBS }}" = "ON" ]; then
+            docker/docker_test.sh sycl-shared
+          else
+            docker/docker_test.sh sycl-static
+          fi
+      - name: GCloud CLI setup
+        if: ${{ github.ref == 'refs/heads/master' }}
+        uses: google-github-actions/[email protected]
+        with:
+          version: ${{ env.GCE_CLI_GHA_VERSION }}
+          service_account_key: ${{ secrets.GCE_SA_KEY_DOCS_CI }}
+          project_id: ${{ secrets.GCE_DOCS_PROJECT }}
+          export_default_credentials: true
+      - name: Upload ccache to GCS
+        if: ${{ github.ref == 'refs/heads/master' }}
+        run: |
+          gsutil cp ${GITHUB_WORKSPACE}/open3d-ci-sycl.tar.gz gs://open3d-ci-cache/ || true

.github/workflows/ubuntu.yml

@@ -27,13 +27,13 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        SHARED: [ON, OFF]
+        BUILD_SHARED_LIBS: [ON, OFF]
         MLOPS: [ON, OFF]
         exclude:
-          - SHARED: OFF
+          - BUILD_SHARED_LIBS: OFF
             MLOPS: ON
     env:
-      SHARED: ${{ matrix.SHARED }}
+      BUILD_SHARED_LIBS: ${{ matrix.BUILD_SHARED_LIBS }}
       BUILD_CUDA_MODULE: OFF
       BUILD_TENSORFLOW_OPS: ${{ matrix.MLOPS }}
       BUILD_PYTORCH_OPS: ${{ matrix.MLOPS }}
@@ -47,39 +47,39 @@ jobs:
           maximize_ubuntu_github_actions_build_space
       - name: Docker build
         run: |
-          if   [ "${{ matrix.SHARED }}" = "OFF" ] && [ "${{ matrix.MLOPS }}" = "OFF" ]; then
+          if   [ "${{ matrix.BUILD_SHARED_LIBS }}" = "OFF" ] && [ "${{ matrix.MLOPS }}" = "OFF" ]; then
             docker/docker_build.sh cpu-static
-          elif [ "${{ matrix.SHARED }}" = "ON"  ] && [ "${{ matrix.MLOPS }}" = "OFF" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
+          elif [ "${{ matrix.BUILD_SHARED_LIBS }}" = "ON"  ] && [ "${{ matrix.MLOPS }}" = "OFF" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
             docker/docker_build.sh cpu-shared
-          elif [ "${{ matrix.SHARED }}" = "ON"  ] && [ "${{ matrix.MLOPS }}" = "OFF" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
+          elif [ "${{ matrix.BUILD_SHARED_LIBS }}" = "ON"  ] && [ "${{ matrix.MLOPS }}" = "OFF" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
             docker/docker_build.sh cpu-shared-release
-          elif [ "${{ matrix.SHARED }}" = "ON"  ] && [ "${{ matrix.MLOPS }}" = "ON"  ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
+          elif [ "${{ matrix.BUILD_SHARED_LIBS }}" = "ON"  ] && [ "${{ matrix.MLOPS }}" = "ON"  ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
             docker/docker_build.sh cpu-shared-ml
-          elif [ "${{ matrix.SHARED }}" = "ON"  ] && [ "${{ matrix.MLOPS }}" = "ON"  ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
+          elif [ "${{ matrix.BUILD_SHARED_LIBS }}" = "ON"  ] && [ "${{ matrix.MLOPS }}" = "ON"  ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
             docker/docker_build.sh cpu-shared-ml-release
           fi
       - name: Docker test
         run: |
-          if   [ "${{ matrix.SHARED }}" = "OFF" ] && [ "${{ matrix.MLOPS }}" = "OFF" ]; then
+          if   [ "${{ matrix.BUILD_SHARED_LIBS }}" = "OFF" ] && [ "${{ matrix.MLOPS }}" = "OFF" ]; then
             docker/docker_test.sh cpu-static
-          elif [ "${{ matrix.SHARED }}" = "ON"  ] && [ "${{ matrix.MLOPS }}" = "OFF" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
+          elif [ "${{ matrix.BUILD_SHARED_LIBS }}" = "ON"  ] && [ "${{ matrix.MLOPS }}" = "OFF" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
             docker/docker_test.sh cpu-shared
-          elif [ "${{ matrix.SHARED }}" = "ON"  ] && [ "${{ matrix.MLOPS }}" = "OFF" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
+          elif [ "${{ matrix.BUILD_SHARED_LIBS }}" = "ON"  ] && [ "${{ matrix.MLOPS }}" = "OFF" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
             docker/docker_test.sh cpu-shared-release
-          elif [ "${{ matrix.SHARED }}" = "ON"  ] && [ "${{ matrix.MLOPS }}" = "ON"  ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
+          elif [ "${{ matrix.BUILD_SHARED_LIBS }}" = "ON"  ] && [ "${{ matrix.MLOPS }}" = "ON"  ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
             docker/docker_test.sh cpu-shared-ml
-          elif [ "${{ matrix.SHARED }}" = "ON"  ] && [ "${{ matrix.MLOPS }}" = "ON"  ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
+          elif [ "${{ matrix.BUILD_SHARED_LIBS }}" = "ON"  ] && [ "${{ matrix.MLOPS }}" = "ON"  ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
             docker/docker_test.sh cpu-shared-ml-release
           fi
       - name: Upload package to GitHub artifacts
-        if: ${{ env.SHARED == 'ON' }}
+        if: ${{ env.BUILD_SHARED_LIBS == 'ON' }}
         uses: actions/upload-artifact@v2
         with:
           name: open3d-devel-linux-x86_64
           path: open3d-devel-*.tar.xz
           if-no-files-found: error
       - name: GCloud CLI setup
-        if: ${{ github.ref == 'refs/heads/master' && env.SHARED == 'ON' }}
+        if: ${{ github.ref == 'refs/heads/master' && env.BUILD_SHARED_LIBS == 'ON' }}
         # https://github.com/GoogleCloudPlatform/github-actions/issues/100#issuecomment-650798308
         uses: google-github-actions/[email protected]
         with:
@@ -88,7 +88,7 @@ jobs:
           project_id: ${{ secrets.GCE_DOCS_PROJECT }}
           export_default_credentials: true
       - name: Upload package to GCS bucket
-        if: ${{ github.ref == 'refs/heads/master' && env.SHARED == 'ON' }}
+        if: ${{ github.ref == 'refs/heads/master' && env.BUILD_SHARED_LIBS == 'ON' }}
         run: |
           gsutil cp open3d-devel-*.tar.xz gs://open3d-releases-master/devel/
           echo "Download devel package at: https://storage.googleapis.com/open3d-releases-master/devel/${{ env.DEVEL_PKG_NAME }}"

.github/workflows/windows.yml

@@ -38,25 +38,25 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        SHARED: [ON, OFF]
+        BUILD_SHARED_LIBS: [ON, OFF]
         STATIC_RUNTIME: [ON, OFF]
-        BUILD_CUDA: [ON, OFF]
+        BUILD_CUDA_MODULE: [ON, OFF]
         CONFIG: [Release, Debug]
         exclude:
-          - SHARED: ON
+          - BUILD_SHARED_LIBS: ON
             STATIC_RUNTIME: ON
         include:
-          - BUILD_CUDA: ON
+          - BUILD_CUDA_MODULE: ON
             CUDA_VERSION: 11.0.3
     env:
-      BUILD_WEBRTC: ${{ ( matrix.SHARED == 'OFF' && matrix.STATIC_RUNTIME == 'ON' ) && 'ON' || 'OFF' }}
+      BUILD_WEBRTC: ${{ ( matrix.BUILD_SHARED_LIBS == 'OFF' && matrix.STATIC_RUNTIME == 'ON' ) && 'ON' || 'OFF' }}
 
     steps:
       - name: Disk space used
         run: Get-PSDrive
 
       - name: Install CUDA
-        if: ${{ matrix.BUILD_CUDA == 'ON' }}
+        if: ${{ matrix.BUILD_CUDA_MODULE == 'ON' }}
         run: |
           # Define variables
           $CUDA_VER_FULL = "${{ matrix.CUDA_VERSION }}"
@@ -109,13 +109,13 @@ jobs:
             -DDEVELOPER_BUILD="${env:DEVELOPER_BUILD}" `
             -DBUILD_EXAMPLES=OFF `
             -DCMAKE_INSTALL_PREFIX="C:\Program Files\Open3D" `
-            -DBUILD_SHARED_LIBS=${{ matrix.SHARED }} `
+            -DBUILD_SHARED_LIBS=${{ matrix.BUILD_SHARED_LIBS }} `
             -DSTATIC_WINDOWS_RUNTIME=${{ matrix.STATIC_RUNTIME }} `
             -DBUILD_COMMON_ISPC_ISAS=ON `
             -DBUILD_LIBREALSENSE=ON `
             -DBUILD_WEBRTC=${{ env.BUILD_WEBRTC }} `
             -DBUILD_UNIT_TESTS=ON `
-            -DBUILD_CUDA_MODULE=${{ matrix.BUILD_CUDA }} `
+            -DBUILD_CUDA_MODULE=${{ matrix.BUILD_CUDA_MODULE }} `
             ${{ env.SRC_DIR }}
 
       - name: Build
@@ -129,7 +129,7 @@ jobs:
 
       - name: Package
         working-directory: ${{ env.BUILD_DIR }}
-        if: ${{ matrix.SHARED == 'ON' && matrix.BUILD_CUDA == 'OFF' }}
+        if: ${{ matrix.BUILD_SHARED_LIBS == 'ON' && matrix.BUILD_CUDA_MODULE == 'OFF' }}
         run: |
           $ErrorActionPreference = 'Stop'
           cmake --build . --parallel ${{ env.NPROC }} --config ${{ matrix.CONFIG }} `
@@ -143,15 +143,15 @@ jobs:
             $env:GITHUB_ENV -Encoding utf8 -Append
 
       - name: Upload package
-        if: ${{ matrix.SHARED == 'ON' && matrix.BUILD_CUDA == 'OFF' }}
+        if: ${{ matrix.BUILD_SHARED_LIBS == 'ON' && matrix.BUILD_CUDA_MODULE == 'OFF' }}
         uses: actions/upload-artifact@v2
         with:
           name: open3d-devel-windows
           path: ${{ env.BUILD_DIR }}/package/${{ env.DEVEL_PKG_NAME }}
           if-no-files-found: error
 
       - name: GCloud CLI setup
-        if: ${{ github.ref == 'refs/heads/master' && matrix.SHARED == 'ON' && matrix.BUILD_CUDA == 'OFF' }}
+        if: ${{ github.ref == 'refs/heads/master' && matrix.BUILD_SHARED_LIBS == 'ON' && matrix.BUILD_CUDA_MODULE == 'OFF' }}
         # https://github.com/GoogleCloudPlatform/github-actions/issues/100#issuecomment-650798308
         uses: google-github-actions/[email protected]
         env:
@@ -163,7 +163,7 @@ jobs:
           export_default_credentials: true
 
       - name: Upload package to GCS bucket
-        if: ${{ github.ref == 'refs/heads/master' && matrix.SHARED == 'ON' && matrix.BUILD_CUDA == 'OFF' }}
+        if: ${{ github.ref == 'refs/heads/master' && matrix.BUILD_SHARED_LIBS == 'ON' && matrix.BUILD_CUDA_MODULE == 'OFF' }}
         env:
           CLOUDSDK_PYTHON: ${{env.PYTHON_EXECUTABLE}}
         run: |
@@ -176,7 +176,7 @@ jobs:
           }
 
       - name: Run C++ unit tests
-        if: ${{ matrix.BUILD_CUDA == 'OFF' }}
+        if: ${{ matrix.BUILD_CUDA_MODULE == 'OFF' }}
         working-directory: ${{ env.BUILD_DIR }}
         run: |
           echo "Add --gtest_random_seed=SEED to the test command to repeat this test sequence."
@@ -206,8 +206,8 @@ jobs:
             idna==${{ env.IDNA_VER }}
           cmake --build . --config ${{ matrix.CONFIG }} --target install-pip-package
       - name: Import python package
-        # If SHARED == ON, Open3D.dll needs to be copied, which is not recommended for python.
-        if: ${{ matrix.SHARED == 'OFF' && matrix.BUILD_CUDA == 'OFF' }}
+        # If BUILD_SHARED_LIBS == ON, Open3D.dll needs to be copied, which is not recommended for python.
+        if: ${{ matrix.BUILD_SHARED_LIBS == 'OFF' && matrix.BUILD_CUDA_MODULE == 'OFF' }}
         run: |
           python -c "import open3d; print('Imported:', open3d)"
           python -c "import open3d; print('CUDA enabled: ', open3d.core.cuda.is_available())"

3rdparty/README_SYCL.md

@@ -0,0 +1,88 @@
+# Open3D SYCL
+
+Note: this file will be moved to the `docs` folder once SYCL support is mature.
+
+## Concepts
+
+- **OpenCL**: Low-level programming interface for heterogeneous platforms.
+- **SYCL**: High-level programming interface for heterogeneous platforms. SYCL
+  was originally based on OpenCL but now SYCL is an independent standard.
+- **DPC++**: Intel's implementation of the SYCL standard.
+- **oneAPI**: A collection of open standards, including DPC++, oneMKL, oneTBB, etc.
+
+Open3D's SYCL support runs on DPC++ and requires oneAPI dependencies. For
+convenience, in the source code, we use the term "SYCL" although we may be
+referring to "DPC++".
+
+## Setup
+
+1. Install oneAPI for Linux: [install via apt-get](https://www.intel.com/content/www/us/en/develop/documentation/installation-guide-for-intel-oneapi-toolkits-linux/top/installation/install-using-package-managers/apt.html)
+2. Prepare environment
+   ```bash
+   # Source environments
+   source /opt/intel/oneapi/setvars.sh
+
+   # We'll be using oneAPI's distribution of conda and Python
+   # Python 3.6+ will work
+   conda create -n sycl python=3.8
+   conda activate sycl
+   ```
+3. Check your environment
+   ```bash
+   which icx        # /opt/intel/oneapi/compiler/<version>/linux/bin/icx
+   which icpx       # /opt/intel/oneapi/compiler/<version>/linux/bin/icpx
+   which python     # ${HOME}/.conda/envs/sycl/bin/python
+   python --version # Python 3.8.12 :: Intel Corporation
+   ```
+4. Config and build
+   ```bash
+   cmake -DBUILD_SYCL_MODULE=ON -DCMAKE_C_COMPILER=icx -DCMAKE_CXX_COMPILER=icpx ..
+   make -j$(nproc)
+   ```
+5. Run demos
+   We provide several ways to run SYCL demos. This ensures the linking are
+   correct and all run-time dependencies are satisfied.
+   ```bash
+   # C++ test
+   make tests -j$(nproc)
+   ./bin/tests --gtest_filter="*SYCLDemo*"
+
+   # C++ example
+   make SYCLDemo -j$(nproc)
+   ./bin/examples/SYCLDemo
+
+   # Python
+   make install-pip-package -j$(nproc)
+   pytest ../python/test/core/test_sycl_utils.py -s
+   ```
+
+## Known limitations/requirement
+
+- Limitations (not implemented yet)
+  - Only supports Linux
+  - Only supports `BUILD_CUDA_MODULE=OFF`
+  - ML ops not supported (C++17 cannot be enabled for TF)
+- Requirements (required by DPC++)
+  - Only supports `GLIBCXX_USE_CXX11_ABI=ON`
+  - Only supports `set(CMAKE_CXX_STANDARD 17)`
+
+
+## List of oneAPI Python packages
+
+To make `pip install open3d` works out-of-the box on SYCL-enabled platforms,
+we can utilize runtime libraries released via PyPI. This feature needs to be
+implemented.
+
+User:
+- https://pypi.org/user/IntelAutomationEngineering/
+
+Libraries:
+- dpcpp-cpp-rt     https://pypi.org/project/dpcpp-cpp-rt/#history
+- mkl              https://pypi.org/project/mkl/#history
+- mkl-static       https://pypi.org/project/mkl-static/#history
+- mkl-include      https://pypi.org/project/mkl-include/#history
+- mkl-dpcpp        https://pypi.org/project/mkl-dpcpp/#history
+- mkl-devel-dpcpp  https://pypi.org/project/mkl-devel-dpcpp/#history
+- ipp              https://pypi.org/project/ipp/#history
+- ipp-static       https://pypi.org/project/ipp-static/#history
+- tbb              https://pypi.org/project/tbb/#history