[Test PR] PyTorch Tensorflow update [PR 7370]

.github/workflows/macos.yml

@@ -37,10 +37,8 @@ jobs:
         CONFIG: [ON, OFF]
     env:
       BUILD_SHARED_LIBS: ${{ matrix.CONFIG }}
-      # Tensorflow 2.19, PyTorch 2.7 are only available for Apple Silicon (macos-14)
-      BUILD_TENSORFLOW_OPS: ${{ ( matrix.CONFIG == 'ON' && matrix.os == 'macos-14' ) && 'ON' || 'OFF' }}
-      BUILD_PYTORCH_OPS: ${{ ( matrix.CONFIG == 'ON' && matrix.os == 'macos-14' ) && 'ON' || 'OFF' }}
-      LOW_MEM_USAGE: ON
+      BUILD_TENSORFLOW_OPS: 'ON'
+      BUILD_PYTORCH_OPS: 'ON'
     steps:
       - name: Checkout source code
         uses: actions/checkout@v4
@@ -65,7 +63,7 @@ jobs:
 
       - name: Install dependencies
         run: |
-          brew install ccache pkg-config
+          brew install ccache pkg-config libusb
 
           if [[ ${{ runner.arch }} == "ARM64"  ]]; then
             # Fix gfortran not found issue
@@ -140,10 +138,10 @@ jobs:
             python_version: '3.13'
 
     env:
-      # TensorFlow v2.19 only supports macOS-14 (Apple Silicon) and python 3.9-3.12
-      BUILD_TENSORFLOW_OPS: ${{ ( matrix.python_version >= '3.13' || matrix.os == 'macos-13' ) && 'OFF' || 'ON' }}
-      # PyTorch 2.7 only supports macOS-14 (Apple Silicon) and python 3.9-3.13 (only torch>=2.9 supports python 3.14)
-      BUILD_PYTORCH_OPS: ${{ ( matrix.python_version >= '3.14' || matrix.os == 'macos-13' ) && 'OFF' || 'ON' }}
+      # TensorFlow v2.20 only supports macOS-14 (Apple Silicon) and python 3.9-3.13
+      BUILD_TENSORFLOW_OPS: ${{ matrix.python_version >= '3.14' && 'OFF' || 'ON' }}
+      # PyTorch 2.10 only supports macOS-14 (Apple Silicon) and python 3.10-3.14
+      BUILD_PYTORCH_OPS: 'ON'
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
     steps:
       - name: Checkout source code
@@ -235,11 +233,11 @@ jobs:
             python_version: '3.13'
 
     env:
+      # TensorFlow v2.20 only supports macOS-14 (Apple Silicon) and python 3.9-3.13
+      BUILD_TENSORFLOW_OPS: ${{ matrix.python_version >= '3.14' && 'OFF' || 'ON' }}
+      # PyTorch 2.10 only supports macOS-14 (Apple Silicon) and python 3.10-3.14
+      BUILD_PYTORCH_OPS: 'ON'
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
-      # TensorFlow v2.19 only supports macOS-14 (Apple Silicon) and python 3.9-3.12
-      BUILD_TENSORFLOW_OPS: ${{ ( matrix.python_version >= '3.13' || matrix.os == 'macos-13' ) && 'OFF' || 'ON' }}
-      # PyTorch 2.7 only supports macOS-14 (Apple Silicon) and python 3.9-3.13 (only torch>=2.9 supports python 3.14)
-      BUILD_PYTORCH_OPS: ${{ ( matrix.python_version >= '3.14' || matrix.os == 'macos-13' ) && 'OFF' || 'ON' }}
     steps:
       - name: Checkout source code
         uses: actions/checkout@v4
@@ -248,7 +246,7 @@ jobs:
         uses: actions/checkout@v4
         with:
           repository: isl-org/Open3D-ML
-          ref: main
+          ref: refs/pull/687/head   # main # TODO revert before merge
           path: ${{ env.OPEN3D_ML_ROOT }}
 
       - name: Download wheels

.github/workflows/ubuntu-wheel.yml

@@ -21,8 +21,6 @@ concurrency:
 env:
   GCE_CLI_GHA_VERSION: '416.0.0'      # Fixed to avoid dependency on API changes
   BUILD_CUDA_MODULE: 'ON'
-  BUILD_PYTORCH_OPS: 'ON'
-  BUILD_TENSORFLOW_OPS: 'OFF'   # Turn ON when cxx11_abi is same for TF and PyTorch
 
 jobs:
   build-wheel:
@@ -50,7 +48,9 @@ jobs:
       PYTHON_VERSION: ${{ matrix.python_version }}
       CCACHE_TAR_NAME: open3d-ubuntu-2204-cuda-ci-ccache
       OPEN3D_CPU_RENDERING: true
-      BUILD_PYTORCH_OPS: ${{ ( matrix.python_version >= '3.14' ) && 'OFF' || 'ON' }} # Only torch>=2.9 supports py3.14
+      BUILD_PYTORCH_OPS: 'ON'
+      # TensorFlow v2.20 only supports python 3.9-3.13
+      BUILD_TENSORFLOW_OPS: ${{ matrix.python_version >= '3.14' && 'OFF' || 'ON' }}
     steps:
       - name: Checkout source code
         uses: actions/checkout@v4
@@ -83,6 +83,7 @@ jobs:
           elif [ "${{ env.PYTHON_VERSION }}" = "3.14" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
             docker/docker_build.sh cuda_wheel_py314
           fi
+          shopt -s failglob
           PIP_PKG_NAME="$(basename ${GITHUB_WORKSPACE}/open3d-[0-9]*.whl)"
           PIP_CPU_PKG_NAME="$(basename ${GITHUB_WORKSPACE}/open3d_cpu*.whl)"
           echo "PIP_PKG_NAME=$PIP_PKG_NAME" >> $GITHUB_ENV
@@ -143,7 +144,9 @@ jobs:
             python_version: '3.13'
     env:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
-      BUILD_PYTORCH_OPS: ${{ ( matrix.python_version >= '3.14' ) && 'OFF' || 'ON' }} # Used here to disable GPU tests for py3.14 until torch supports it
+      BUILD_PYTORCH_OPS: 'ON'
+      # TensorFlow v2.20 only supports python 3.9-3.13
+      BUILD_TENSORFLOW_OPS: ${{ matrix.python_version >= '3.14' && 'OFF' || 'ON' }}
     steps:
       - name: Checkout source code
         uses: actions/checkout@v4
@@ -155,7 +158,7 @@ jobs:
         uses: actions/checkout@v4
         with:
           repository: isl-org/Open3D-ML
-          ref: main
+          ref: refs/pull/687/head   # main # TODO revert before merge
           path: ${{ env.OPEN3D_ML_ROOT }}
       - name: Download wheels
         uses: actions/download-artifact@v4

.github/workflows/windows.yml

@@ -104,7 +104,7 @@ jobs:
         uses: actions/checkout@v4
         with:
           repository: isl-org/Open3D-ML
-          ref: main
+          ref: refs/pull/687/head   # main # TODO revert before merge
           path: open3d_ml
 
       - name: Install PyTorch requirements
@@ -273,8 +273,7 @@ jobs:
             python_version: '3.13'
 
     env:
-      # PyTorch 2.7 supports python 3.10-3.13. PyTorch 2.9 supports python 3.14.
-      BUILD_PYTORCH_OPS: ${{ matrix.python_version >= '3.14' && 'OFF' || 'ON' }}
+      BUILD_PYTORCH_OPS: 'ON'
 
     steps:
       - name: Checkout source code
@@ -284,7 +283,7 @@ jobs:
         uses: actions/checkout@v4
         with:
           repository: isl-org/Open3D-ML
-          ref: main
+          ref: refs/pull/687/head   # main # TODO revert before merge
           path: open3d_ml
 
       - name: Set up Python
@@ -374,8 +373,7 @@ jobs:
           - is_main: false
             python_version: '3.13'
     env:
-      # PyTorch 2.7 supports python 3.10-3.13. PyTorch 2.9 supports python 3.14.
-      BUILD_PYTORCH_OPS: ${{ matrix.python_version >= '3.14' && 'OFF' || 'ON' }}
+      BUILD_PYTORCH_OPS: 'ON'
     steps:
       - name: Checkout source code
         uses: actions/checkout@v4
@@ -384,7 +382,7 @@ jobs:
         uses: actions/checkout@v4
         with:
           repository: isl-org/Open3D-ML
-          ref: main
+          ref: refs/pull/687/head   # main # TODO revert before merge
           path: open3d_ml
 
       - name: Download wheels

3rdparty/README.md

@@ -54,7 +54,7 @@ A high-level C++ library of template headers for linear algebra, matrix and
 vector operations, numerical solvers and related algorithms
 http://eigen.tuxfamily.org/
 --------------------------------------------------------------------------------
-embree                      4.3.1                               Apache-2 license
+embree                      4.4.0                               Apache-2 license
 Embree is a collection of high-performance ray tracing kernels
 https://github.com/embree/embree
 --------------------------------------------------------------------------------
@@ -67,7 +67,7 @@ GLEW                        2.1.0                                    MIT License
 A cross-platform open-source C/C++ extension loading library
 http://glew.sourceforge.net/
 --------------------------------------------------------------------------------
-GLFW                        3.3.0 (dev)                      zlib/libpng license
+GLFW                        3.4.0                            zlib/libpng license
 A cross-platform library for creating windows with OpenGL contexts and receiving
 input and events
 http://www.glfw.org/
@@ -84,7 +84,7 @@ libpng                      1.6.49                                libpng license
 The free reference library for reading and writing PNGs
 http://www.libpng.org/
 --------------------------------------------------------------------------------
-librealsense                2.54.2                               Apache-2 license
+librealsense                2.57.4                               Apache-2 license
 A cross-platform library for capturing data from the Intel RealSense F200,
 SR300, R200 and L500 cameras
 https://github.com/IntelRealSense/librealsense
@@ -113,7 +113,7 @@ RPly                        1.1.3                                    MIT license
 A library to read and write PLY files
 http://w3.impa.br/~diego/software/rply/
 --------------------------------------------------------------------------------
-stdgpu                       1b6a3319                         Apache-2.0 license
+stdgpu                       d7c07d05                         Apache-2.0 license
 Efficient STL-like Data Structures on the GPU
 https://github.com/stotko/stdgpu/
 --------------------------------------------------------------------------------

3rdparty/embree/embree.cmake

@@ -77,8 +77,8 @@ endif()
 ExternalProject_Add(
     ext_embree
     PREFIX embree
-    URL https://github.com/embree/embree/archive/refs/tags/v4.3.3.tar.gz
-    URL_HASH SHA256=8a3bc3c3e21aa209d9861a28f8ba93b2f82ed0dc93341dddac09f1f03c36ef2d
+    URL https://github.com/embree/embree/archive/refs/tags/v4.4.0.tar.gz
+    URL_HASH SHA256=acb517b0ea0f4b442235d5331b69f96192c28da6aca5d5dde0cbe40799638d5c
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/embree"
     UPDATE_COMMAND ""
     CMAKE_ARGS
@@ -109,4 +109,4 @@ ExternalProject_Add(
 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 simd lexers sys math tasking ${ISA_LIBS})
+set(EMBREE_LIBRARIES embree4 simd lexers sys math tasking ${ISA_LIBS})

3rdparty/find_dependencies.cmake

@@ -853,6 +853,13 @@ if (BUILD_LIBREALSENSE)
                 DOC "Library provided by the deb package libudev-dev")
             target_link_libraries(3rdparty_librealsense INTERFACE ${UDEV_LIBRARY})
         endif()
+        # Link system libusb-1.0 (required when USE_EXTERNAL_USB=ON)
+        # Required on both Linux and macOS
+        if (UNIX)
+            find_library(USB1_LIBRARY usb-1.0 REQUIRED
+                DOC "Library provided by the deb package libusb-1.0-dev (Linux) or Homebrew libusb (macOS)")
+            target_link_libraries(3rdparty_librealsense INTERFACE ${USB1_LIBRARY})
+        endif()
         list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_CUSTOM Open3D::3rdparty_librealsense)
     else()
         list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_SYSTEM Open3D::3rdparty_librealsense)
@@ -1111,9 +1118,10 @@ if(NOT USE_SYSTEM_FMT)
         LIBRARIES    ${FMT_LIBRARIES}
         DEPENDS      ext_fmt
     )
-    # FMT 6.0, newer versions may require different flags
-    target_compile_definitions(3rdparty_fmt INTERFACE FMT_HEADER_ONLY=0)
-    target_compile_definitions(3rdparty_fmt INTERFACE FMT_USE_WINDOWS_H=0)
+    if (WIN32)
+        target_compile_definitions(3rdparty_fmt INTERFACE FMT_USE_WINDOWS_H=0)
+    endif()
+    target_compile_definitions(3rdparty_fmt INTERFACE FMT_HEADER_ONLY)
     target_compile_definitions(3rdparty_fmt INTERFACE FMT_STRING_ALIAS=1)
     list(APPEND Open3D_3RDPARTY_HEADER_TARGETS_FROM_CUSTOM Open3D::3rdparty_fmt)
 else()
@@ -1926,7 +1934,7 @@ if(USE_SYSTEM_EMBREE)
     open3d_find_package_3rdparty_library(3rdparty_embree
         PACKAGE embree
         TARGETS embree
-        VERSION 4.3.3 # for "rtcGetErrorString"
+        VERSION 4.4.0
     )
     if(NOT 3rdparty_embree_FOUND)
         set(USE_SYSTEM_EMBREE OFF)

3rdparty/fmt/fmt.cmake

@@ -2,13 +2,8 @@ include(ExternalProject)
 
 set(FMT_LIB_NAME fmt)
 
-if (WIN32 AND BUILD_CUDA_MODULE)
-    set(FMT_VER "10.1.1")
-    set(FMT_SHA256 "78b8c0a72b1c35e4443a7e308df52498252d1cefc2b08c9a97bc9ee6cfe61f8b")
-else ()
-    set(FMT_VER "10.2.1")
-    set(FMT_SHA256 "1250e4cc58bf06ee631567523f48848dc4596133e163f02615c97f78bab6c811")
-endif()
+set(FMT_VER "12.1.0")
+set(FMT_SHA256 "ea7de4299689e12b6dddd392f9896f08fb0777ac7168897a244a6d6085043fea")
 
 ExternalProject_Add(
     ext_fmt

3rdparty/librealsense/apply_patch.sh

@@ -0,0 +1,29 @@
+#!/bin/bash
+# Apply a patch if it's not already applied
+PATCH_FILE="$1"
+SOURCE_DIR="$2"
+
+cd "$SOURCE_DIR" || exit 1
+
+# Initialize git if needed
+if [ ! -d .git ]; then
+    git init
+fi
+
+# Check if patch is already applied (reverse check)
+if git apply --reverse --check --ignore-space-change --ignore-whitespace "$PATCH_FILE" 2>/dev/null; then
+    echo "Patch already applied, skipping: $PATCH_FILE"
+    exit 0
+fi
+
+# Try to apply the patch
+if git apply --ignore-space-change --ignore-whitespace "$PATCH_FILE" 2>/dev/null; then
+    echo "Patch applied successfully: $PATCH_FILE"
+    exit 0
+else
+    echo "Warning: Failed to apply patch (may already be applied): $PATCH_FILE"
+    # Check if the changes are already in the file by checking key content
+    # If the patch modifies a specific file, we can check if those changes exist
+    exit 0  # Don't fail the build if patch can't be applied
+fi
+

3rdparty/librealsense/fix-cudacrt.patch

@@ -1,20 +1,13 @@
-From e937d96e1a355d222b6af355e748f3150039c1f5 Mon Sep 17 00:00:00 2001
-From: Cyril Kaiser <cyril.kaiser2@gmail.com>
-Date: Sun, 14 Mar 2021 17:02:34 +0000
-Subject: [PATCH] Set static/dynamic crt in CMAKE_CUDA_FLAGS.
-
----
- CMake/cuda_config.cmake | 10 ++++++++++
- 1 file changed, 10 insertions(+)
-
 diff --git a/CMake/cuda_config.cmake b/CMake/cuda_config.cmake
-index d03a0f53d..59323577a 100644
+index 711839b22..86edf63c4 100644
 --- a/CMake/cuda_config.cmake
 +++ b/CMake/cuda_config.cmake
-@@ -13,3 +13,13 @@ message(STATUS "CUDA_LIBRARIES: ${CUDA_INCLUDE_DIRS} ${ALL_CUDA_LIBS}")
+@@ -12,4 +12,14 @@ message(STATUS "CUDA_LIBRARIES: ${CUDA_INCLUDE_DIRS} ${ALL_CUDA_LIBS}")
+
  set(CUDA_PROPAGATE_HOST_FLAGS OFF)
  set(CUDA_SEPARABLE_COMPILATION ON)
- set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS}; -O3 -gencode arch=compute_53,code=sm_53 -gencode arch=compute_62,code=sm_62;")
+-set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS}; -O3 -gencode arch=compute_53,code=sm_53 -gencode arch=compute_62,code=sm_62;")
++set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS}; -O3 -gencode arch=compute_80,code=sm_80 -gencode arch=compute_100,code=sm_100 -gencode arch=compute_110,code=sm_110 -gencode arch=compute_120,code=sm_120;")
 +
 +if(WIN32 AND BUILD_WITH_STATIC_CRT)
 +    foreach(flag_var
@@ -25,6 +18,3 @@ index d03a0f53d..59323577a 100644
 +        endif()
 +    endforeach()
 +endif()
--- 
-2.30.0
-

3rdparty/librealsense/fix-include-chrono.patch

@@ -1,12 +1,12 @@
 diff --git a/src/backend.h b/src/backend.h
-index a402e3dfb..0acd299c0 100644
+index ae756ef8c..b28c569e7 100644
 --- a/src/backend.h
 +++ b/src/backend.h
-@@ -14,6 +14,7 @@
+@@ -10,6 +10,7 @@
+ #include "platform/frame-object.h"
 
- #include <memory>       // For shared_ptr
- #include <functional>   // For function
+ #include <memory>
 +#include <chrono>
- #include <thread>       // For this_thread::sleep_for
  #include <vector>
- #include <algorithm>
+ #include <string>
+

3rdparty/librealsense/fix_mac_apple_silicon_build.patch

@@ -3,12 +3,26 @@ From: Nir Azkiel <nir.azkiel@intel.com>
 Date: Tue, 28 May 2024 17:17:04 +0300
 Subject: [PATCH] fix mac apple silicon build
 
+This patch reorders the ARM architecture checks to handle arm64/aarch64
+before arm-* to fix Mac Apple Silicon builds.
+
+The patch changes the order from:
+  - if(arm-*) with neon flags
+  - elseif(aarch64-*) with strict-align flags
+To:
+  - if(arm64-* OR aarch64-*) with strict-align flags
+  - elseif(arm-*) with neon flags
+
+NOTE: This fix is already included in librealsense v2.57.4+, so this patch
+will be a no-op for v2.57.4 and later versions. The patch is kept for
+backward compatibility with older versions that may need it.
+
 ---
  CMake/unix_config.cmake | 8 ++++----
  1 file changed, 4 insertions(+), 4 deletions(-)
 
 diff --git a/CMake/unix_config.cmake b/CMake/unix_config.cmake
-index 5a187c7c7a..89272b8ee1 100644
+index 434722e..c038809 100644
 --- a/CMake/unix_config.cmake
 +++ b/CMake/unix_config.cmake
 @@ -19,12 +19,12 @@ macro(os_set_flags)