Use default xcode versions

Each macOS version now comes with a single xcode version.
Disable github sycl raycasting tests (no GPU available there).

.github/workflows/macos.yml

@@ -32,9 +32,9 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        # macos-12 is Intel runner, macos-14 is Apple Silicon
+        # macos-13 is Intel runner, macos-14 is Apple Silicon
         # https://github.com/actions/runner-images
-        os: [macos-12, macos-14]
+        os: [macos-13, macos-14]
         CONFIG: [ON, OFF]
     env:
       BUILD_SHARED_LIBS: ${{ matrix.CONFIG }}
@@ -68,15 +68,15 @@ jobs:
         run: |
           brew install ccache pkg-config
 
-          if [[ ${{ runner.arch}} == "ARM64"  ]]; then
+          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_16.1.0.app
+            # sudo xcode-select -switch /Applications/Xcode_16.1.0.app
           fi
 
           # Install libomp 11.1.0 from old brew bottle for x64 catalina (10.15)
@@ -142,7 +142,7 @@ jobs:
     permissions:
       contents: write  # Release upload
     name: Fuse x64 and ARM64 viewer app
-    runs-on: [macos-12]
+    runs-on: [macos-13]
     needs: [MacOS]
     steps:
       - name: Checkout source code  # for gh release upload
@@ -191,9 +191,9 @@ jobs:
       fail-fast: false
       # https://github.community/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
+        # macos-13 is Intel runner, macos-14 is Apple Silicon
         # https://github.com/actions/runner-images
-        os: [macos-12, macos-14]
+        os: [macos-13, macos-14]
         python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
@@ -260,7 +260,7 @@ jobs:
           # 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_16.1.0.app
+            # sudo xcode-select -switch /Applications/Xcode_16.1.0.app
           fi
 
           # Install libomp 11.1.0. See comment above.
@@ -308,7 +308,7 @@ jobs:
     name: Fuse universal2 wheel
     permissions:
       contents: write  # Release upload
-    runs-on: [macos-12]
+    runs-on: [macos-13]
     needs: [build-wheel]
     strategy:
       fail-fast: false
@@ -379,7 +379,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [macos-12, macos-14]
+        os: [macos-13, macos-14]
         python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}

python/test/t/geometry/test_raycasting_scene.py

@@ -15,10 +15,17 @@
 sys.path.append(os.path.dirname(os.path.realpath(__file__)) + "/../..")
 from open3d_test import list_devices
 
+# RayCastingScene SYCL tests require a GPU with HW raytracing support. We don't
+# detect this automatically.
+# Do not enable SYCL devices on GIthub - GPU is not available and we don't
+# distinguish between SYCL CPU and SYCL GPU.
+enable_sycl = os.environ.get("CI", "") == ""
+
 
 # test intersection with a single triangle
 @pytest.mark.parametrize("device",
-                         list_devices(enable_cuda=False, enable_sycl=True))
+                         list_devices(enable_cuda=False,
+                                      enable_sycl=enable_sycl))
 def test_cast_rays(device):
     vertices = o3d.core.Tensor([[0, 0, 0], [1, 0, 0], [1, 1, 0]],
                                dtype=o3d.core.float32,
@@ -50,7 +57,8 @@ def test_cast_rays(device):
 # cast lots of random rays to test the internal batching
 # we expect no errors for this test
 @pytest.mark.parametrize("device",
-                         list_devices(enable_cuda=False, enable_sycl=True))
+                         list_devices(enable_cuda=False,
+                                      enable_sycl=enable_sycl))
 def test_cast_lots_of_rays(device):
     vertices = o3d.core.Tensor([[0, 0, 0], [1, 0, 0], [1, 1, 0]],
                                dtype=o3d.core.float32,
@@ -71,7 +79,8 @@ def test_cast_lots_of_rays(device):
 
 # test occlusion with a single triangle
 @pytest.mark.parametrize("device",
-                         list_devices(enable_cuda=False, enable_sycl=True))
+                         list_devices(enable_cuda=False,
+                                      enable_sycl=enable_sycl))
 def test_test_occlusions(device):
     vertices = o3d.core.Tensor([[0, 0, 0], [1, 0, 0], [1, 1, 0]],
                                dtype=o3d.core.float32,
@@ -108,7 +117,8 @@ def test_test_occlusions(device):
 # test lots of random rays for occlusions to test the internal batching
 # we expect no errors for this test
 @pytest.mark.parametrize("device",
-                         list_devices(enable_cuda=False, enable_sycl=True))
+                         list_devices(enable_cuda=False,
+                                      enable_sycl=enable_sycl))
 def test_test_lots_of_occlusions(device):
     vertices = o3d.core.Tensor([[0, 0, 0], [1, 0, 0], [1, 1, 0]],
                                dtype=o3d.core.float32,
@@ -128,7 +138,8 @@ def test_test_lots_of_occlusions(device):
 
 
 @pytest.mark.parametrize("device",
-                         list_devices(enable_cuda=False, enable_sycl=True))
+                         list_devices(enable_cuda=False,
+                                      enable_sycl=enable_sycl))
 def test_add_triangle_mesh(device):
     cube = o3d.t.geometry.TriangleMesh.create_box()
     cube = cube.to(device)
@@ -148,7 +159,8 @@ def test_add_triangle_mesh(device):
 
 
 @pytest.mark.parametrize("device",
-                         list_devices(enable_cuda=False, enable_sycl=True))
+                         list_devices(enable_cuda=False,
+                                      enable_sycl=enable_sycl))
 def test_count_intersections(device):
     cube = o3d.t.geometry.TriangleMesh.create_box()
     vertex_positions = cube.vertex.positions
@@ -174,7 +186,8 @@ def test_count_intersections(device):
 # count lots of random ray intersections to test the internal batching
 # we expect no errors for this test
 @pytest.mark.parametrize("device",
-                         list_devices(enable_cuda=False, enable_sycl=True))
+                         list_devices(enable_cuda=False,
+                                      enable_sycl=enable_sycl))
 def test_count_lots_of_intersections(device):
     cube = o3d.t.geometry.TriangleMesh.create_box()
     vertex_positions = cube.vertex.positions
@@ -194,7 +207,8 @@ def test_count_lots_of_intersections(device):
 
 
 @pytest.mark.parametrize("device",
-                         list_devices(enable_cuda=False, enable_sycl=True))
+                         list_devices(enable_cuda=False,
+                                      enable_sycl=enable_sycl))
 def test_list_intersections(device):
     cube = o3d.t.geometry.TriangleMesh.create_box()
     vertex_positions = cube.vertex.positions
@@ -223,7 +237,8 @@ def test_list_intersections(device):
 # list lots of random ray intersections to test the internal batching
 # we expect no errors for this test
 @pytest.mark.parametrize("device",
-                         list_devices(enable_cuda=False, enable_sycl=True))
+                         list_devices(enable_cuda=False,
+                                      enable_sycl=enable_sycl))
 def test_list_lots_of_intersections(device):
     cube = o3d.t.geometry.TriangleMesh.create_box()
     vertex_positions = cube.vertex.positions