Python 3.10

[ssheorey]

• Drop support for EOL Python 3.6 (no PyTorch, TF wheels available)
• PyTorch 1.12 (custom wheels not needed for version >=1.9. See code linking to libtorch cannot use thrust/cub functions pytorch/pytorch#52663 (comment))
• Tensorflow 2.8.2
• CUDA 11.6 (CUDA 11.3 nvcc causes compile error in tf_ops)
• [Also updated Nvidia drivers on Google cloud GPU VM base image to support CUDA<=11.7]
• CUDNN 8.4
• scipy 1.7.3

Closes #3324
Closes #4535

TODO: Switch Python version in CI to 3.7 from 3.10 (current) before merging.
Companion Open3D-ML PR isl-org/Open3D-ML#554

Tensorflow 2.9+ switched to _GLIBCXX_USE_CXX11_ABI=1
PyTorch plans to from 1.13 (next release).

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This change is 

[update-docs]

Thanks for submitting this pull request! The maintainers of this repository would appreciate if you could update the CHANGELOG.md based on your changes.

[benjaminum]

@ssheorey Did you have time to run the minimal example in #3324 ?

Reviewable status: 0 of 26 files reviewed, all discussions resolved (waiting on @sanskar107 and @yxlao)

[yxlao]

Reviewed 26 of 26 files at r2, all commit messages.
Reviewable status: all files reviewed, 3 unresolved discussions (waiting on @sanskar107 and @ssheorey)

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docker/docker_build.sh line 85 at r2 (raw file):

print_usage_and_exit_docker_build() {
	echo "$__usage_docker_build"

Seems like 4-space indentations are replaced with tabs. Shall we keep the 4-space indentation?

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docker/docker_test.sh line 61 at r2 (raw file):

print_usage_and_exit_docker_test() {
	echo "$__usage_docker_test"

Same, shall we keep the 4-space indentation?

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util/ci_utils.sh line 10 at r2 (raw file):

DEVELOPER_BUILD="${DEVELOPER_BUILD:-ON}"
if [[ "$DEVELOPER_BUILD" != "OFF" ]]; then # Validate input coming from GHA input field
	DEVELOPER_BUILD="ON"

Same, shall we keep the 4-space indentation?

[ssheorey]

Yes, tested with PyTorch 1.9 (CUDA 11.1) and PyTorch 1.12 (CUDA 11.6). Both work correctly. Test output in #3324

Reviewable status: 21 of 27 files reviewed, 3 unresolved discussions (waiting on @sanskar107 and @yxlao)

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docker/docker_build.sh line 85 at r2 (raw file):

Previously, yxlao (Yixing Lao) wrote…

Seems like 4-space indentations are replaced with tabs. Shall we keep the 4-space indentation?

Done.

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docker/docker_test.sh line 61 at r2 (raw file):

Previously, yxlao (Yixing Lao) wrote…

Same, shall we keep the 4-space indentation?

Done.

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util/ci_utils.sh line 10 at r2 (raw file):

Previously, yxlao (Yixing Lao) wrote…

Same, shall we keep the 4-space indentation?

Done.

[benjaminum]

Perfect!

Reviewable status: 21 of 27 files reviewed, 3 unresolved discussions (waiting on @sanskar107 and @yxlao)