Merge branch 'main' of github.com:isl-org/Open3D into fix/4960-glfw-t…

…erminate

.dockerignore

@@ -6,3 +6,4 @@ docs/_static/build
 docs/_out
 3rdparty_downloads
 .python-version
+cmake-build-*

.github/ISSUE_TEMPLATE/0-build-issue-report.yml

@@ -13,7 +13,7 @@ body:
         required: true
       - label: "For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
         required: true
-      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch)."
+      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `main` branch)."
         required: true
 
 - type: textarea

.github/ISSUE_TEMPLATE/1-bug-report.yml

@@ -13,7 +13,7 @@ body:
         required: true
       - label: "For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
         required: true
-      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch)."
+      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `main` branch)."
         required: true
 
 - type: textarea
@@ -50,13 +50,13 @@ body:
 
       # For Colored-ICP `colors` attribute must be of the same dtype as
       # `positions` and `normals` attribute.
-      source.point["colors"] = source.point["colors"].to(
+      source.point.colors = source.point.colors.to(
           o3d.core.Dtype.Float32) / 255.0
-      target.point["colors"] = target.point["colors"].to(
+      target.point.colors = target.point.colors.to(
           o3d.core.Dtype.Float32) / 255.0
 
       # Initial guess transform between the two point-cloud.
-      # ICP algortihm requires a good initial allignment to converge efficiently.
+      # ICP algorithm requires a good initial alignment to converge efficiently.
       current_transformation = np.identity(4)
 
       draw([source.transform(current_transformation), target])

.github/ISSUE_TEMPLATE/2-questions.yml

@@ -13,7 +13,7 @@ body:
         required: true
       - label: "For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
         required: true
-      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch)."
+      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `main` branch)."
         required: true
 
 - type: textarea

.github/ISSUE_TEMPLATE/3-feature-request.yml

@@ -13,7 +13,7 @@ body:
         required: true
       - label: "For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
         required: true
-      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch)."
+      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `main` branch)."
         required: true
 
 - type: textarea

.github/pull_request_template.md

@@ -0,0 +1,34 @@
+<!--- Provide a general summary of your changes in the Title above -->
+
+## Type
+
+<!--- Select with 'x' and link to a related issue. What types of changes does your code introduce? -->
+
+-   [ ] Bug fix (non-breaking change which fixes an issue): Fixes #
+-   [ ] New feature (non-breaking change which adds functionality). Resolves #
+-   [ ] Breaking change (fix or feature that would cause existing functionality to not work as expected) Resolves #
+
+## Motivation and Context
+
+<!--- Why is this change required? What problem does it solve? -->
+
+## Checklist:
+
+<!--- Go over all the following points, and put an `x` in all the boxes that
+apply.  If you're unsure about any of these, don't hesitate to ask. We're here
+to help! -->
+
+-   [ ] I have run `python util/check_style.py --apply` to apply Open3D **code style**
+    to my code.
+-   [ ] This PR changes Open3D behavior or adds new functionality.
+    -   [ ] Both C++ (Doxygen) and Python (Sphinx / Google style) **documentation** is
+        updated accordingly.
+    -   [ ] I have added or updated C++ and / or Python **unit tests** OR included **test
+        results** (e.g. screenshots or numbers) here.
+-   [ ] I will follow up and update the code if CI fails.
+    <!-- In case I am unavailable later -->
+-   [ ] For fork PRs, I have selected **Allow edits from maintainers**.
+
+## Description
+
+<!--- Describe your changes, with test results and screenshots as appropriate. Move unrelated changes, if any, to a separate PR. -->

.github/workflows/README.md

@@ -1,24 +1,33 @@
 # Running workflows on GitHub Actions
 
+## OS versions
+
+Use the oldest available OS version (e.g. ubuntu-18.04, macos-11, windows-2019)
+for each workflow to ensure created binary artifacts are as widely compatible as
+possible. For jobs that use docker, or auxiliary jobs (e.g. uploading artifacts
+to google cloud), use ubuntu-latest to avoid changing the version on GitHub
+actions updates. On macOS and Windows, using Ubuntu reduces CI cost.
+
 ## Documentation deployment
 
 ### Directory structure
 
-- `.github/workflows/documentation.yml`: Github Actions workflow file to
-  create and deploy documentation. Documentation is created for every branch
-  as a CI test, but deployed only for `master`.
-- `util/ci_utils.sh:build_docs()`: Called by GitHub Actions to buld documentation.
-- `unpack_docs.sh`: Called by the documentation server to deploy the docs into
-  the website.
+-   `.github/workflows/documentation.yml`: Github Actions workflow file to
+    create and deploy documentation. Documentation is created for every branch
+    as a CI test, but deployed only for `main`.
+-   `util/ci_utils.sh:build_docs()`: Called by GitHub Actions to build documentation.
+-   `unpack_docs.sh`: Called by the documentation server to deploy the docs into
+    the website.
 
 ### Setting up the docs deployment
 
 #### Step 1: Google Cloud
 
-1. Setup `gcloud`
-    - [Install `gcloud`](https://cloud.google.com/sdk/install)
-    - `gcloud init` and login with admin's google account on the web
-2. Create storage bucket
+1.  Setup `gcloud`
+    -   [Install `gcloud`](https://cloud.google.com/sdk/install)
+    -   `gcloud init` and login with admin's google account on the web
+2.  Create storage bucket
+
     ```bash
     # Create with uniform bucket-level access: `-b`
     # https://cloud.google.com/storage/docs/creating-buckets#storage-create-bucket-gsutil
@@ -34,23 +43,23 @@
     gsutil lifecycle set gcs.lifecycle.json gs://open3d-docs/
     ```
 
-    Objects will be stored in the bucket for one week. Currently, the
-    documentation server fetches the latest docs from `master` branch every hour.
-    If the documentation server fails to fetch the docs matching the `master`
+    Objects will be stored in the bucket for 30 days. Currently, the
+    documentation server fetches the latest docs from `main` branch every hour.
+    If the documentation server fails to fetch the docs matching the `main`
     commit id, the last successfully fetched docs will be displayed.
-3. Create service account
+3.  Create service account
     ```bash
     gcloud iam service-accounts create open3d-ci-sa \
         --description="Service account for Open3D CI" \
         --display-name="open3d-ci-sa"
     ```
-4. Grant `objectAdmin` to the service account
+4.  Grant `objectAdmin` to the service account
     ```bash
     gsutil iam ch \
         serviceAccount:[email protected]:objectAdmin \
         gs://open3d-docs
     ```
-5. Create key for service account
+5.  Create key for service account
     ```bash
     gcloud iam service-accounts keys create ~/open3d-ci-sa-key.json \
     --iam-account [email protected]
@@ -60,31 +69,31 @@ Now `~/open3d-ci-sa-key.json` should have been created.
 
 #### Step 2: GitHub
 
-1. Encode the private key json file with `base64 ~/open3d-ci-sa-key.json` and
+1.  Encode the private key json file with `base64 ~/open3d-ci-sa-key.json` and
     add the output text to the
     [GitHub repository secrets](https://github.com/isl-org/Open3D/settings/secrets)
     with name `GCE_SA_KEY_DOCS_CI`
 
-2. Also add secret `GCE_DOCS_PROJECT: isl-buckets`
+2.  Also add secret `GCE_DOCS_PROJECT: isl-buckets`
 
 ## Google compute engine setup for GPU CI
 
 ### CI Procedure
 
 The GCE CI workflow `.github/workflows/gce-ubuntu-docker.yml` performs these steps:
 
-- Clone the repository
-- Build docker image, starting with a an NVIDIA base devel image with CUDA and
-  cuDNN.
-- Push image to Google container registry.
-- On Google Compute Engine (GCE), in parallel (up to GPU quota limit - currently
-  4):
-- Create a new VM instance with a custom OS image
-- Run docker image on GCE (Google Compute Engine) with environment variables
-  set for specific build config.
-- The docker image entrypoint is the `run-ci.sh` script: build, install, run
-  tests and uninstall.
-- Delete the VM instance.
+-   Clone the repository
+-   Build docker image, starting with a an NVIDIA base devel image with CUDA and
+    cuDNN.
+-   Push image to Google container registry.
+-   On Google Compute Engine (GCE), in parallel (up to GPU quota limit - currently
+    4):
+-   Create a new VM instance with a custom OS image
+-   Run docker image on GCE (Google Compute Engine) with environment variables
+    set for specific build config.
+-   The docker image entrypoint is the `run-ci.sh` script: build, install, run
+    tests and uninstall.
+-   Delete the VM instance.
 
 A separate VM instance is created for each commit and build option. The VM
 instances are named according to the commit hash and build config ID used. We
@@ -95,21 +104,21 @@ either due to lack of resources or GPU quota exhaustion.
 
 #### Step 1: Google Cloud: Create service account and key
 
-1. Create service account
+1.  Create service account
     ```bash
     gcloud iam service-accounts create open3d-ci-sa \
         --description="Service account for Open3D CI" \
         --display-name="open3d-ci-sa"    \
         --project open3d-dev
     ```
-2. Grant `Compute Instance Admin (beta)` to the service account
+2.  Grant `Compute Instance Admin (beta)` to the service account
     ```bash
     gcloud projects add-iam-policy-binding open3d-dev \
         --member=serviceAccount:[email protected] \
         --role=roles/compute.instanceAdmin \
         --project open3d-dev
     ```
-3. Create key for service account
+3.  Create key for service account
     ```bash
     gcloud iam service-accounts keys create ~/open3d-ci-sa-key.json \
         --iam-account [email protected] \
@@ -138,45 +147,48 @@ used for running CI.
 
 ## Ccache strategy
 
-- Typically, a build generates ~500MB cache. A build with Filament compiled from
-  source generates ~600MB cache.
-- Typically, regular X86 Ubuntu and macOS builds take about 40 mins without
-  caching.
-- The bottleneck of the CI is in the ARM build since it runs on a simulator.
-  When building Filament from source, the build time can exceed GitHub's 6-hour
-  limit if caching is not properly activated. With proper caching and good cache
-  hit rate, the ARM build job can run within 1 hour.
-- Both Ubuntu and macOS have a max cache setting of 2GB each out of a total
-  cache limit of 5GB for the whole repository. Windows MSVC does not use
-  caching at present since `ccache` does not officially support MSVC.
-- ARM64 cache (limit 1.5GB) is stored on Google cloud bucket
-  (`open3d-ci-cache` in the `isl-buckets` project). The bucket is world
-  readable, but needs the `open3d-ci-sa` service account for writing. Every
-  ARM64 build downloads the cache contents before build. Only `master` branch
-  builds use `gsutil rsync` to update the cache in GCS. Cache transfer only
-  takes a few minutes, but reduces ARM64 CI time to about 1:15 hours.
-
-## Development wheels for user testing
-
-`master` branch Python wheels are uploaded to a world readable GCS bucket for
-users to try out development wheels.
+-   Typically, a build generates ~500MB cache. A build with Filament compiled from
+    source generates ~600MB cache.
+-   Typically, regular X86 Ubuntu and macOS builds take about 40 mins without
+    caching.
+-   The bottleneck of the CI is in the ARM build since it runs on a simulator.
+    When building Filament from source, the build time can exceed GitHub's 6-hour
+    limit if caching is not properly activated. With proper caching and good cache
+    hit rate, the ARM build job can run within 1 hour.
+-   Both Ubuntu and macOS have a max cache setting of 2GB each out of a total
+    cache limit of 10GB for the whole repository. Windows MSVC does not use
+    caching at present since `cmake + ccache` requires Ninja instead of MSBuild.
+    Most users use MSVC / MSBuild instead of Ninja and this would make resolving
+    user issues harder.
+-   ARM64 cache (limit 1.5GB) is stored on Google cloud bucket
+    (`open3d-ci-cache` in the `isl-buckets` project). The bucket is world
+    readable, but needs the `open3d-ci-sa` service account for writing. Every
+    ARM64 build downloads the cache contents before build. Only `main` branch
+    builds use `gsutil rsync` to update the cache in GCS. Cache transfer only
+    takes a few minutes, but reduces ARM64 CI time to about 1:15 hours.
+
+## Development wheels and binary archives for user testing
+
+`main` branch Python wheels and binary archives are uploaded to a world
+readable GCS bucket in `open3d-releases/{python-wheels,devel}` for users
+to try out development wheels.
 
 ### Google Cloud storage
 
 Follow instructions in A. Documentation deployment to setup a Google cloud
 bucket with:
 
-- Project: open3d-dev
-- Service account: open3d-ci-sa-gpu
-- Bucket name: open3d-ci-sa-gpu
-- Public read permissions
-- One week object lifecycle
+-   Project: open3d-dev
+-   Service account: open3d-ci-sa-gpu
+-   Bucket name: open3d-ci-sa-gpu
+-   Public read permissions
+-   One month (30 days) object lifecycle
 
 ```bash
-gsutil mb -p open3d-dev -c STANDARD -l US -b on gs://open3d-releases-master
-gsutil acl ch -u AllUsers:R gs://open3d-releases-master
-gsutil lifecycle set gcs.lifecycle.json gs:/open3d-releases-master
+gsutil mb -p open3d-dev -c STANDARD -l US -b on gs://open3d-releases
+gsutil acl ch -u AllUsers:R gs://open3d-releases
+gsutil lifecycle set gcs.lifecycle.json gs:/open3d-releases
 gsutil iam ch \
     serviceAccount:[email protected]:objectAdmin \
-    gs://open3d-releases-master
+    gs://open3d-releases
 ```

.github/workflows/clean-gcloud-profiles.yml

@@ -0,0 +1,55 @@
+# Run this manually when this error occurs:
+# ```
+# ERROR: (gcloud.compute.scp) INVALID_ARGUMENT:
+# Login profile size exceeds 32 KiB. Delete profile values to make additional space.
+# ```
+#
+# Whenever we log in to GCloud via SSH, the public key will be persistently
+# stored unless we delete them. Typically, each CI job (e.g. CUDA, OpenBLAS ARM)
+# will clean up its own log in profile automatically by:
+# ```
+# gcloud compute os-login ssh-keys remove --key-file "${HOME}/.ssh/google_compute_engine.pub"
+# ```
+#
+# Sometimes due to CI error, the GCloud login profile may not be deleted so
+# they will accumulate. When the error of "Login profile size exceeds 32 KiB"
+# happens, run this workflow manually to clean up the login profiles.
+
+name: Clean GCloud Profiles
+
+on:
+  workflow_dispatch:
+  # push:
+  #   branches:
+  #     - main
+  # pull_request:
+  #   types: [opened, reopened, synchronize]
+
+env:
+  GCE_GPU_CI_SA: ${{ secrets.GCE_GPU_CI_SA }}
+  GCE_CLI_GHA_VERSION: '416.0.0' # Fixed to avoid dependency on API changes
+
+jobs:
+  clean-gcloud-profiles:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    steps:
+      - name: GCloud CLI auth
+        uses: 'google-github-actions/auth@v1'
+        with:
+          project_id: ${{ secrets.GCE_PROJECT }}
+          credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
+      - name: GCloud CLI setup
+        uses: google-github-actions/setup-gcloud@v1
+        with:
+          version: ${{ env.GCE_CLI_GHA_VERSION }}
+          project_id: ${{ secrets.GCE_PROJECT }}
+      - name: Delete GCloud login profiles manually
+        run: |
+          gcloud compute os-login describe-profile
+          for i in $(gcloud compute os-login ssh-keys list | grep -v FINGERPRINT); do \
+              echo "Removing ssh key"; \
+              gcloud compute os-login ssh-keys remove --key $i || true; \
+          done
+          gcloud compute os-login describe-profile