Unified cloud initializer pipeline for ICP (fixes segfault colored ICP) #9141
Workflow file for this run
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| name: MacOS | |
| permissions: {} | |
| on: | |
| workflow_dispatch: | |
| inputs: | |
| developer_build: | |
| description: 'Set to OFF for Release builds.' | |
| required: false | |
| default: 'ON' | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| types: [opened, reopened, synchronize] # Rebuild on new pushes to PR | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }} | |
| cancel-in-progress: true | |
| env: | |
| # https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners#supported-runners-and-hardware-resources | |
| NPROC: 4 | |
| DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }} | |
| jobs: | |
| MacOS: | |
| permissions: | |
| contents: write # upload | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| # macos-12 is Intel runner, macos-14 is Apple Silicon | |
| # https://github.com/actions/runner-images | |
| os: [macos-12, macos-14] | |
| CONFIG: [ON, OFF] | |
| env: | |
| BUILD_SHARED_LIBS: ${{ matrix.CONFIG }} | |
| BUILD_CUDA_MODULE: OFF | |
| BUILD_TENSORFLOW_OPS: ${{ matrix.CONFIG }} | |
| BUILD_PYTORCH_OPS: ${{ matrix.CONFIG }} | |
| LOW_MEM_USAGE: ON | |
| steps: | |
| - name: Checkout source code | |
| uses: actions/checkout@v4 | |
| - name: Setup cache | |
| uses: actions/cache@v4 | |
| with: | |
| # Ref: https://github.com/apache/incubator-mxnet/pull/18459/files | |
| path: ~/.ccache | |
| # We include the commit sha in the cache key, as new cache entries are | |
| # only created if there is no existing entry for the key yet. | |
| key: ${{ runner.os }}-${{ runner.arch }}-ccache-${{ github.sha }} | |
| # Restore any ccache cache entry, if none for | |
| # ${{ runner.os }}-${{ runner.arch }}-ccache-${{ github.sha }} exists. | |
| # Common prefix will be used so that ccache can be used across commits. | |
| restore-keys: | | |
| ${{ runner.os }}-${{ runner.arch }}-ccache | |
| - name: Set up Python version | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: '3.11' | |
| - name: Install dependencies | |
| run: | | |
| brew install ccache pkg-config | |
| if [[ ${{ runner.arch}} == "ARM64" ]]; then | |
| # Fix gfortran not found issue | |
| ln -s $(which gfortran-13) /usr/local/bin/gfortran | |
| # Default macos-14 image Xcode (version 15.0.1) linker causes build issues. | |
| # Newer Xcode versions work, but embree recommends Apple clang <= 14 on | |
| # arm64 to avoid possible "EXEC_BAD_INSTRUCTION" runtime exceptions: | |
| # https://github.com/embree/embree/releases/tag/v4.3.1 | |
| sudo xcode-select -switch /Applications/Xcode_14.3.1.app | |
| fi | |
| # Install libomp 11.1.0 from old brew bottle for x64 catalina (10.15) | |
| # / arm64 big sur (11.0). Directly installing the Ruby formula will | |
| # install for the current OS. | |
| # https://github.com/microsoft/LightGBM/issues/4229 | |
| if [[ ${{ runner.arch}} == "X64" ]]; then | |
| brew unlink libomp | |
| # x64 catalina (10.15) bottle | |
| export LIBOMP_BOTTLE_HASH=45a5aa653bd45bd5ff5858580b1a4670c4b5a51ea29d68d45a53f72f56010e05 | |
| else # ARM64 | |
| # arm64 big_sur (11.0) bottle | |
| export LIBOMP_BOTTLE_HASH=f87f7841eb8b72650fa771af39642361aec371ea1a1f94f081ecc0e8168a0e75 | |
| fi | |
| curl -L -H "Authorization: Bearer QQ==" -o libomp-11.1.0.bottle.tar.gz \ | |
| https://ghcr.io/v2/homebrew/core/libomp/blobs/sha256:$LIBOMP_BOTTLE_HASH | |
| brew install -f libomp-11.1.0.bottle.tar.gz | |
| ccache -M 2G # See .github/workflows/readme.md for ccache strategy. | |
| - name: Config and build | |
| run: | | |
| PATH=/usr/local/var/homebrew/linked/ccache/libexec:$PATH | |
| ccache -s | |
| ./util/run_ci.sh | |
| DEVEL_PKG_NAME="$(basename build/package/open3d-devel-*.tar.xz)" | |
| echo "DEVEL_PKG_NAME=$DEVEL_PKG_NAME" >> $GITHUB_ENV | |
| - name: Build Open3D viewer app | |
| if: ${{ env.BUILD_SHARED_LIBS == 'OFF' }} | |
| run: | | |
| OPEN3D_VERSION_FULL="$(grep -F OPEN3D_VERSION_FULL build/CMakeCache.txt | cut -f2 -d'=')" | |
| PATH=/usr/local/var/homebrew/linked/ccache/libexec:$PATH | |
| pushd build | |
| make -j${NPROC} Open3DViewer | |
| pushd bin | |
| zip -rv "open3d-${OPEN3D_VERSION_FULL}-app-macosx-10_15-${{ runner.arch }}.zip" Open3D.app | |
| ccache -s | |
| - name: Upload package | |
| if: ${{ env.BUILD_SHARED_LIBS == 'ON' }} | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ env.DEVEL_PKG_NAME }} | |
| path: build/package/${{ env.DEVEL_PKG_NAME }} | |
| if-no-files-found: error | |
| - name: Update package devel release | |
| if: ${{ github.ref == 'refs/heads/main' && env.BUILD_SHARED_LIBS == 'ON' }} | |
| env: | |
| GH_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| run: | | |
| gh release upload main-devel build/package/${{ env.DEVEL_PKG_NAME }} --clobber | |
| gh release view main-devel | |
| - name: Upload Open3D viewer app | |
| uses: actions/upload-artifact@v4 | |
| if: ${{ env.BUILD_SHARED_LIBS == 'OFF' }} | |
| with: | |
| name: open3d-app-macosx-10_15-${{ runner.arch}} | |
| path: build/bin/open3d-*-app-macosx-10_15-${{ runner.arch }}.zip | |
| if-no-files-found: error | |
| fuse-viewer: | |
| permissions: | |
| contents: write # Release upload | |
| name: Fuse x64 and ARM64 viewer app | |
| runs-on: [macos-12] | |
| needs: [MacOS] | |
| steps: | |
| - name: Checkout source code # for gh release upload | |
| uses: actions/checkout@v4 | |
| - name: Download viewer apps | |
| uses: actions/download-artifact@v4 | |
| with: | |
| pattern: open3d-app-macosx-10_15-* | |
| merge-multiple: true | |
| - name: Fuse x64 and arm64 viewer apps | |
| run: | | |
| unzip open3d-*-app-macosx-10_15-X64.zip -d x64 | |
| unzip open3d-*-app-macosx-10_15-ARM64.zip -d arm64 | |
| APP_NAME=$(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: | |
| contents: write # upload | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| # https://gh.neting.ccmunity/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6 | |
| matrix: | |
| # macos-12 is Intel runner, macos-14 is Apple Silicon | |
| # https://github.com/actions/runner-images | |
| os: [macos-12, macos-14] | |
| python_version: ['3.8', '3.9', '3.10', '3.11'] | |
| is_main: | |
| - ${{ github.ref == 'refs/heads/main' }} | |
| exclude: | |
| # TODO: remove macos-14 excludes when https://github.com/actions/setup-python/issues/808 is fixed | |
| - os: macos-14 | |
| python_version: '3.8' | |
| - os: macos-14 | |
| python_version: '3.9' | |
| - is_main: false | |
| python_version: '3.8' | |
| - is_main: false | |
| python_version: '3.9' | |
| - is_main: false | |
| python_version: '3.10' | |
| env: | |
| BUILD_CUDA_MODULE: OFF | |
| OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML | |
| steps: | |
| - name: Checkout source code | |
| uses: actions/checkout@v4 | |
| - name: Checkout Open3D-ML source code | |
| uses: actions/checkout@v4 | |
| with: | |
| repository: isl-org/Open3D-ML | |
| path: ${{ env.OPEN3D_ML_ROOT }} | |
| - name: Setup cache | |
| uses: actions/cache@v4 | |
| with: | |
| # Ref: https://github.com/apache/incubator-mxnet/pull/18459/files | |
| path: ~/.ccache | |
| # We include the commit sha in the cache key, as new cache entries are | |
| # only created if there is no existing entry for the key yet. | |
| key: ${{ runner.os }}-${{ runner.arch }}-ccache-${{ github.sha }} | |
| # Restore any ccache cache entry, if none for | |
| # ${{ runner.os }}-${{ runner.arch }}-ccache-${{ github.sha }} exists. | |
| # Common prefix will be used so that ccache can be used across commits. | |
| restore-keys: | | |
| ${{ runner.os }}-${{ runner.arch }}-ccache | |
| - name: Set up Python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.python_version }} | |
| - name: Install dependencies | |
| run: | | |
| echo "Using python: $(which python)" | |
| python --version | |
| echo -n "Using pip: $(which pip)" | |
| python -m pip --version | |
| echo "Using cmake: $(which cmake)" | |
| cmake --version | |
| source util/ci_utils.sh | |
| install_python_dependencies | |
| # Fix macos-14 arm64 runner image issues, see comments in MacOS job. | |
| if [[ ${{ runner.arch}} == "ARM64" ]]; then | |
| ln -s $(which gfortran-13) /usr/local/bin/gfortran | |
| sudo xcode-select -switch /Applications/Xcode_14.3.1.app | |
| fi | |
| # Install libomp 11.1.0. See comment above. | |
| if [[ ${{ runner.arch}} == "X64" ]]; then | |
| brew unlink libomp | |
| # x64 catalina (10.15) bottle | |
| export LIBOMP_BOTTLE_HASH=45a5aa653bd45bd5ff5858580b1a4670c4b5a51ea29d68d45a53f72f56010e05 | |
| else # ARM64 | |
| # arm64 big_sur (11.0) bottle | |
| export LIBOMP_BOTTLE_HASH=f87f7841eb8b72650fa771af39642361aec371ea1a1f94f081ecc0e8168a0e75 | |
| fi | |
| curl -L -H "Authorization: Bearer QQ==" -o libomp-11.1.0.bottle.tar.gz \ | |
| https://ghcr.io/v2/homebrew/core/libomp/blobs/sha256:$LIBOMP_BOTTLE_HASH | |
| brew install -f libomp-11.1.0.bottle.tar.gz | |
| brew install ccache | |
| ccache -M 2G # See .github/workflows/readme.md for ccache strategy. | |
| - name: Config and build wheel | |
| run: | | |
| PATH=/usr/local/var/homebrew/linked/ccache/libexec:$PATH | |
| ccache -s | |
| source util/ci_utils.sh | |
| build_pip_package | |
| ccache -s | |
| PIP_PKG_NAME="$(basename build/lib/python_package/pip_package/open3d*.whl)" | |
| echo "PIP_PKG_NAME=$PIP_PKG_NAME" >> $GITHUB_ENV | |
| - name: Upload wheel | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ env.PIP_PKG_NAME }} | |
| path: build/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }} | |
| if-no-files-found: error | |
| - name: Update devel release (x86_64 only wheels) | |
| if: ${{ github.ref == 'refs/heads/main' && (matrix.python_version == '3.8' || matrix.python_version == '3.9') }} | |
| env: | |
| GH_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| run: | | |
| gh release upload main-devel build/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }} --clobber | |
| gh release view main-devel | |
| fuse-wheel: | |
| name: Fuse universal2 wheel | |
| permissions: | |
| contents: write # Release upload | |
| runs-on: [macos-12] | |
| needs: [build-wheel] | |
| strategy: | |
| fail-fast: false | |
| # https://gh.neting.ccmunity/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6 | |
| matrix: | |
| python_version: ['3.10', '3.11'] | |
| is_main: | |
| - ${{ github.ref == 'refs/heads/main' }} | |
| exclude: | |
| - is_main: false | |
| python_version: '3.10' | |
| 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: | |
| contents: read | |
| runs-on: ${{ matrix.os }} | |
| needs: [build-wheel] | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [macos-12, macos-14] | |
| python_version: ['3.8', '3.9', '3.10', '3.11'] | |
| is_main: | |
| - ${{ github.ref == 'refs/heads/main' }} | |
| exclude: | |
| - os: macos-14 | |
| python_version: '3.8' | |
| - os: macos-14 | |
| python_version: '3.9' | |
| - is_main: false | |
| python_version: '3.8' | |
| - is_main: false | |
| python_version: '3.9' | |
| - is_main: false | |
| python_version: '3.10' | |
| env: | |
| OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML | |
| steps: | |
| - name: Checkout source code | |
| uses: actions/checkout@v4 | |
| - name: Checkout Open3D-ML source code | |
| uses: actions/checkout@v4 | |
| with: | |
| repository: isl-org/Open3D-ML | |
| path: ${{ env.OPEN3D_ML_ROOT }} | |
| - name: Download wheels | |
| uses: actions/download-artifact@v4 | |
| with: | |
| pattern: open3d-*macosx*.whl | |
| merge-multiple: true | |
| - name: Set up Python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.python_version }} | |
| - name: Test Python package | |
| run: | | |
| python -V | |
| source util/ci_utils.sh | |
| pi_tag=$(python -c "import sys; print(f'cp{sys.version_info.major}{sys.version_info.minor}')") | |
| test_wheel open3d*-"$pi_tag"-*_$(uname -m).whl | |
| - name: Run Python unit tests | |
| run: | | |
| source util/ci_utils.sh | |
| echo "Running Open3D python tests..." | |
| run_python_tests |