macos.yml

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