Merge branch 'main' into vcpkg_support

Author: sewon jeon

.github/workflows/macos.yml

@@ -33,9 +33,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        # macos-13 is Intel runner, macos-14 is Apple Silicon
-        # https://github.com/actions/runner-images
-        os: [macos-13, macos-14]
+        os: [macos-14]
         CONFIG: [ON, OFF]
     env:
       BUILD_SHARED_LIBS: ${{ matrix.CONFIG }}
@@ -118,50 +116,6 @@ jobs:
           path: build/bin/open3d-*-app-macosx-10_15-${{ runner.arch }}.zip
           if-no-files-found: error
 
-  fuse-viewer:
-    permissions:
-      contents: write  # Release upload
-    name: Fuse x64 and ARM64 viewer app
-    runs-on: [macos-13]
-    needs: [MacOS]
-    steps:
-      - name: Checkout source code  # for gh release upload
-        uses: actions/checkout@v4
-      - name: Download viewer apps
-        uses: actions/download-artifact@v4
-        with:
-          pattern: open3d-app-macosx-10_15-*
-          merge-multiple: true
-
-      - name: Fuse x64 and arm64 viewer apps
-        run: |
-          unzip open3d-*-app-macosx-10_15-X64.zip -d x64
-          unzip open3d-*-app-macosx-10_15-ARM64.zip -d arm64
-          APP_NAME=$(ls open3d-*-app-macosx-10_15-X64.zip)
-          APP_NAME=${APP_NAME/-X64/-universal2}  # includes version
-          for i in arm64/Open3D.app/Contents/MacOS/*; do
-            filepath=Open3D.app/Contents/MacOS/$(basename $i)
-            lipo -create arm64/${filepath} x64/${filepath} -output arm64/${filepath}
-          done
-          mv arm64/Open3D.app Open3D.app
-          zip -rv "${APP_NAME}" Open3D.app
-
-      - name: Upload Open3D viewer app
-        uses: actions/upload-artifact@v4
-        with:
-          name: open3d-app-macosx-10_15-universal2
-          path: open3d-*-app-macosx-10_15-universal2.zip
-          if-no-files-found: error
-
-      - name: Update viewer devel release
-        if: ${{ github.ref == 'refs/heads/main' }}
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          gh release upload main-devel open3d-*-app-macosx-10_15-universal2.zip --clobber
-          gh release view main-devel
-
-
   build-wheel:
     name: Build wheel
     permissions:
@@ -171,9 +125,7 @@ jobs:
       fail-fast: false
       # https://github.community/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6
       matrix:
-        # macos-13 is Intel runner, macos-14 is Apple Silicon
-        # https://github.com/actions/runner-images
-        os: [macos-13, macos-14]
+        os: [macos-14]
         python_version: ['3.10', '3.11', '3.12', '3.13']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
@@ -257,75 +209,6 @@ jobs:
           path: build/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }}
           if-no-files-found: error
 
-
-  fuse-wheel:
-    name: Fuse universal2 wheel
-    permissions:
-      contents: write  # Release upload
-    runs-on: [macos-13]
-    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', '3.12', '3.13']
-        is_main:
-          - ${{ github.ref == 'refs/heads/main' }}
-        exclude:
-          - is_main: false
-            python_version: '3.10'
-          - is_main: false
-            python_version: '3.11'
-          - is_main: false
-            python_version: '3.12'
-    steps:
-      - name: Checkout source code  # for gh release upload
-        uses: actions/checkout@v4
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: ${{ matrix.python_version }}
-
-      - name: Download X64 wheels
-        uses: actions/download-artifact@v4
-        with:
-          pattern: open3d-*macosx*_x86_64.whl
-          path: x64_wheels
-          merge-multiple: true
-
-      - name: Download ARM64 wheels
-        uses: actions/download-artifact@v4
-        with:
-          pattern: open3d-*macosx*_arm64.whl
-          path: arm64_wheels
-          merge-multiple: true
-
-      - name: Fuse x64 and ARM64 wheels
-        env:
-          python_version: ${{ matrix.python_version }}
-        run: |
-          PYTAG="-cp$(echo ${{ env.python_version }} | tr -d '.')"
-          mkdir universal_wheels
-          pip install delocate
-          delocate-merge -v -w universal_wheels x64_wheels/open3d-*${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
-        uses: actions/upload-artifact@v4
-        with:
-          name: ${{ env.PIP_PKG_NAME }}
-          path: universal_wheels/${{ env.PIP_PKG_NAME }}
-          if-no-files-found: error
-
-      - name: Update devel release
-        if: ${{ github.ref == 'refs/heads/main' }}
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          gh release upload main-devel universal_wheels/${{ env.PIP_PKG_NAME }} --clobber
-          gh release view main-devel
-
   test-wheel:
     name: Test wheel
     permissions:
@@ -335,7 +218,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [macos-13, macos-14]
+        os: [macos-14]
         python_version: ['3.10', '3.11', '3.12', '3.13']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}

.github/workflows/style.yml

@@ -21,7 +21,8 @@ jobs:
       - name: Checkout source code
         uses: actions/checkout@v4
         with:
-          ref: ${{ github.event.pull_request.head.ref || github.ref_name }}
+          repository: ${{ github.event.pull_request.head.repo.full_name || github.repository }}
+          ref: ${{ github.event.pull_request.head.sha || github.ref }}
           token: ${{ secrets.GITHUB_TOKEN }}
       - name: Set up Python version
         uses: actions/setup-python@v5

.github/workflows/ubuntu-sycl.yml

@@ -69,7 +69,7 @@ jobs:
           GH_TOKEN: ${{ github.token }}
         run: |
           if [ ${{ matrix.BUILD_SHARED_LIBS }} == 'ON' ] ; then
-            gh release upload main-devel open3d-*.whl --clobber
+            gh release upload main-devel open3d*.whl --clobber
             gh release upload main-devel open3d-devel-*.tar.xz --clobber
           fi
           gh release view main-devel

3rdparty/filament/filament_build.cmake

@@ -13,20 +13,21 @@ if(NOT is_multi_config)
 endif()
 
 set(filament_LIBRARIES
-    filameshio
-    filament
-    filamat_lite
-    filamat
-    filaflat
-    filabridge
-    geometry
-    backend
-    bluegl
-    ibl
-    image
-    meshoptimizer
-    smol-v
-    utils
+        filameshio
+        filament
+        filaflat
+        filabridge
+        geometry
+        backend
+        bluegl
+        bluevk
+        ibl
+        image
+        ktxreader
+        meshoptimizer
+        smol-v
+        utils
+        vkshaders
 )
 
 # Locate byproducts
@@ -43,7 +44,7 @@ set(lib_byproducts ${filament_LIBRARIES})
 list(TRANSFORM lib_byproducts PREPEND ${FILAMENT_ROOT}/${lib_dir}/${CMAKE_STATIC_LIBRARY_PREFIX})
 list(TRANSFORM lib_byproducts APPEND ${CMAKE_STATIC_LIBRARY_SUFFIX})
 
-set(filament_cxx_flags "${CMAKE_CXX_FLAGS} -Wno-deprecated")
+set(filament_cxx_flags "${CMAKE_CXX_FLAGS} -Wno-deprecated" "-Wno-pass-failed=transform-warning" "-Wno-error=nonnull")
 if(NOT WIN32)
     # Issue Open3D#1909, filament#2146
     set(filament_cxx_flags "${filament_cxx_flags} -fno-builtin")
@@ -52,8 +53,8 @@ endif()
 ExternalProject_Add(
     ext_filament
     PREFIX filament
-    URL https://github.com/isl-org/filament/archive/d1d873d27f43ba0cee1674a555cc0f18daac3008.tar.gz
-    URL_HASH SHA256=00c3f41af0fcfb2df904e1f77934f2678d943ddac5eb889788a5e22590e497bd
+    URL https://github.com/google/filament/archive/refs/tags/v1.54.0.tar.gz
+    URL_HASH SHA256=f4cb4eb81e3a5d66a9612ac131d16183e118b694f4f34c051506c523a8389e8d
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/filament"
     UPDATE_COMMAND ""
     CMAKE_ARGS
@@ -69,9 +70,9 @@ ExternalProject_Add(
         -DCMAKE_INSTALL_PREFIX=${FILAMENT_ROOT}
         -DUSE_STATIC_CRT=${STATIC_WINDOWS_RUNTIME}
         -DUSE_STATIC_LIBCXX=ON
-        -DFILAMENT_SUPPORTS_VULKAN=OFF
+        -DFILAMENT_SKIP_SDL2=ON
         -DFILAMENT_SKIP_SAMPLES=ON
         -DFILAMENT_OPENGL_HANDLE_ARENA_SIZE_IN_MB=20 # to support many small entities
         -DSPIRV_WERROR=OFF
-    BUILD_BYPRODUCTS ${lib_byproducts}
-)
+        BUILD_BYPRODUCTS ${lib_byproducts}
+)

3rdparty/filament/filament_download.cmake

@@ -1,6 +1,6 @@
 include(FetchContent)
 
-set(filament_LIBRARIES filameshio filament filamat_lite filaflat filabridge geometry backend bluegl bluevk ibl image meshoptimizer smol-v utils vkshaders)
+set(filament_LIBRARIES filameshio filament filaflat filabridge geometry backend bluegl bluevk ibl image ktxreader meshoptimizer smol-v utils vkshaders)
 
 if (FILAMENT_PRECOMPILED_ROOT)
     if (EXISTS "${FILAMENT_PRECOMPILED_ROOT}")
@@ -13,51 +13,38 @@ else()
     set(lib_dir lib)
     # Setup download links
     if(WIN32)
-        set(FILAMENT_URL https://github.com/google/filament/releases/download/v1.9.9/filament-v1.9.9-windows.tgz)
-        set(FILAMENT_SHA256 3a937a54a0c6b693c833737878761f8ba8ee02744be3c2f9ec33b1c6399ba31b)
-        # Required for filament v1.9.9
-        # Older versions of filament do not contain vkshaders.
-        # They also have a different directory structure.
-        # Remove vkshaders here so we can use newer versions with FILAMENT_PRECOMPILED_ROOT.
-        list(REMOVE_ITEM filament_LIBRARIES vkshaders)
+        set(FILAMENT_URL https://github.com/google/filament/releases/download/v1.54.0/filament-v1.54.0-windows.tgz)
+        set(FILAMENT_SHA256 370b85dbaf1a3be26a5a80f60c912f11887748ddd1c42796a83fe989f5805f7b)
         if (STATIC_WINDOWS_RUNTIME)
             string(APPEND lib_dir /x86_64/mt)
         else()
             string(APPEND lib_dir /x86_64/md)
         endif()
     elseif(APPLE)
-        if (APPLE_AARCH64)
-            set(FILAMENT_URL https://github.com/isl-org/open3d_downloads/releases/download/filament/filament-v1.9.19-macos_arm64.tgz)
-            set(FILAMENT_SHA256 3422bdff451d90144fbb69e625d8dcaeaf3222dc2c28879536067937955bc362)
-            string(APPEND lib_dir /arm64)
-            # Our arm64 builds use FILAMENT_SUPPORTS_VULKAN=OFF
-            list(REMOVE_ITEM filament_LIBRARIES bluevk)
-        else()
-            set(FILAMENT_URL https://github.com/google/filament/releases/download/v1.9.19/filament-v1.9.19-mac.tgz)
-            set(FILAMENT_SHA256 2765d0ce60647fc17d1880c4618cf7d6b5343d8be4dad87978c3917d9c723b4e)
-            string(APPEND lib_dir /x86_64)
-        endif()
+        set(FILAMENT_URL https://github.com/google/filament/releases/download/v1.54.0/filament-v1.54.0-mac.tgz)
+        set(FILAMENT_SHA256 9b71642bd697075110579ccb55a2e8f319b05bbd89613c72567745534936186e)
     else()      # Linux: Check glibc version and use open3d filament binary if new (Ubuntu 20.04 and similar)
         execute_process(COMMAND ldd --version OUTPUT_VARIABLE ldd_version)
         string(REGEX MATCH "([0-9]+\.)+[0-9]+" glibc_version ${ldd_version})
-        if(${glibc_version} VERSION_LESS "2.31")
+        if(${glibc_version} VERSION_LESS "2.33")
             set(FILAMENT_URL
-                https://github.com/isl-org/open3d_downloads/releases/download/filament/filament-v1.9.19-linux.tgz)
-            set(FILAMENT_SHA256 f0c0b05a543dd0c82b1cd571957a90f28e72cfeee36d19a527c17ac9de4733d5)
+                    https://github.com/isl-org/open3d_downloads/releases/download/filament/filament-v1.49.1-ubuntu20.04.tgz)
+            set(FILAMENT_SHA256 f4ba020f0ca63540e2f86b36d1728a1ea063ddd5eb55b0ba6fc621ee815a60a7)
             message(STATUS "GLIBC version ${glibc_version} found: Using "
-                "Google Filament binary.")
+                    "Open3D built Filament binary for Ubuntu 20.04.")
         else()
             set(FILAMENT_URL
-                https://github.com/isl-org/open3d_downloads/releases/download/filament/filament-v1.9.19-linux-20.04.tgz)
-            set(FILAMENT_SHA256 c756fd76f5c6a40ca554f8c3cca424354a2a22ea6fce3c8ea893d4c4aa39514c)
+                    https://github.com/google/filament/releases/download/v1.54.0/filament-v1.54.0-linux.tgz)
+            set(FILAMENT_SHA256 f07fbe8fcb6422a682f429d95fa2e097c538d0d900c62f0a835f595ab3909e8e)
             message(STATUS "GLIBC version ${glibc_version} found: Using "
-                "Open3D Filament binary.")
+                    "Google Filament binary.")
         endif()
     endif()
 
     set(lib_byproducts ${filament_LIBRARIES})
     list(TRANSFORM lib_byproducts PREPEND <SOURCE_DIR>/${lib_dir}/${CMAKE_STATIC_LIBRARY_PREFIX})
     list(TRANSFORM lib_byproducts APPEND ${CMAKE_STATIC_LIBRARY_SUFFIX})
+    message(STATUS "Filament byproducts: ${lib_byproducts}")
 
     if(WIN32)
         set(lib_byproducts_debug ${filament_LIBRARIES})
@@ -68,20 +55,21 @@ else()
 
     # ExternalProject_Add happens at build time.
     ExternalProject_Add(
-        ext_filament
-        PREFIX filament
-        URL ${FILAMENT_URL}
-        URL_HASH SHA256=${FILAMENT_SHA256}
-        DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/filament"
-        UPDATE_COMMAND ""
-        CONFIGURE_COMMAND ""
-        BUILD_IN_SOURCE ON
-        BUILD_COMMAND ""
-        INSTALL_COMMAND ""
-        BUILD_BYPRODUCTS ${lib_byproducts}
+            ext_filament
+            PREFIX filament
+            URL ${FILAMENT_URL}
+            URL_HASH SHA256=${FILAMENT_SHA256}
+            DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/filament"
+            UPDATE_COMMAND ""
+            CONFIGURE_COMMAND ""
+            BUILD_IN_SOURCE ON
+            BUILD_COMMAND ""
+            INSTALL_COMMAND ""
+            BUILD_BYPRODUCTS ${lib_byproducts}
     )
     ExternalProject_Get_Property(ext_filament SOURCE_DIR)
+    message(STATUS "Filament source dir is ${SOURCE_DIR}")
     set(FILAMENT_ROOT ${SOURCE_DIR})
 endif()
 
-message(STATUS "Filament is located at ${FILAMENT_ROOT}")
+message(STATUS "Filament is located at ${FILAMENT_ROOT}")

3rdparty/find_dependencies.cmake

@@ -1335,22 +1335,25 @@ if(BUILD_GUI)
         else()
             message(STATUS "Using prebuilt third-party library Filament")
             include(${Open3D_3RDPARTY_DIR}/filament/filament_download.cmake)
-            # Set lib directory for filament v1.9.9 on Windows.
-            # Assume newer version if FILAMENT_PRECOMPILED_ROOT is set.
-            if (WIN32 AND NOT FILAMENT_PRECOMPILED_ROOT)
-                if (STATIC_WINDOWS_RUNTIME)
-                    set(FILAMENT_RUNTIME_VER "x86_64/mt$<$<CONFIG:DEBUG>:d>")
-                else()
-                    set(FILAMENT_RUNTIME_VER "x86_64/md$<$<CONFIG:DEBUG>:d>")
-                endif()
-            endif()
         endif()
-        if (APPLE)
+        if (UNIX AND NOT APPLE)
+            if (CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64|arm64)$")
+                set(FILAMENT_RUNTIME_VER aarch64)
+            else()
+                set(FILAMENT_RUNTIME_VER x86_64)
+            endif()
+        elseif (APPLE)
             if (APPLE_AARCH64)
                 set(FILAMENT_RUNTIME_VER arm64)
             else()
                 set(FILAMENT_RUNTIME_VER x86_64)
             endif()
+        else()  # WIN32
+            if (STATIC_WINDOWS_RUNTIME)
+                set(FILAMENT_RUNTIME_VER "x86_64/mt$<$<CONFIG:DEBUG>:d>")
+            else()
+                set(FILAMENT_RUNTIME_VER "x86_64/md$<$<CONFIG:DEBUG>:d>")
+            endif()
         endif()
         open3d_import_3rdparty_library(3rdparty_filament
             HEADER