Update min OS to Ubuntu 20.04

.github/workflows/ubuntu-cuda.yml

@@ -54,15 +54,15 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - CI_CONFIG: 2-bionic
-          - CI_CONFIG: 3-ml-shared-bionic
-          - CI_CONFIG: 4-shared-bionic
-          - CI_CONFIG: 5-ml-focal
+          - CI_CONFIG: 2-focal
+          - CI_CONFIG: 3-ml-shared-focal
+          - CI_CONFIG: 4-shared-focal
+          - CI_CONFIG: 5-ml-jammy
     env:
       # Export everything from matrix to be easily used.
       # Docker tag and ccache names must be consistent with docker_build.sh
       CI_CONFIG          : ${{ matrix.CI_CONFIG }}
-      BUILD_PACKAGE      : ${{ contains(fromJson('["3-ml-shared-bionic", "4-shared-bionic"]'), matrix.CI_CONFIG) }}
+      BUILD_PACKAGE      : ${{ contains(fromJson('["3-ml-shared-focal", "4-shared-focal"]'), matrix.CI_CONFIG) }}
       GCE_INSTANCE_PREFIX: open3d-ci-${{ matrix.CI_CONFIG }}
       DOCKER_TAG         : open3d-ci:${{ matrix.CI_CONFIG }}
       CCACHE_TAR_NAME    : open3d-ci-${{ matrix.CI_CONFIG }}

.github/workflows/ubuntu-wheel.yml

@@ -46,7 +46,7 @@ jobs:
     env:
       DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }}
       PYTHON_VERSION: ${{ matrix.python_version }}
-      CCACHE_TAR_NAME: open3d-ubuntu-1804-cuda-ci-ccache
+      CCACHE_TAR_NAME: open3d-ubuntu-2004-cuda-ci-ccache
       OPEN3D_CPU_RENDERING: true
     steps:
       - name: Checkout source code

.github/workflows/vtk_packages.yml

@@ -11,7 +11,7 @@ jobs:
     permissions:
       contents: write
     # TODO: Convert to docker
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
     steps:
       - name: Checkout source code
         uses: actions/checkout@v4

.github/workflows/webrtc.yml

@@ -30,10 +30,10 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-18.04, macos-11]
+        os: [ubuntu-20.04, macos-12]
         GLIBCXX_USE_CXX11_ABI: [0, 1]
         exclude:
-          - os: macos-11
+          - os: macos-12
             GLIBCXX_USE_CXX11_ABI: 0
     env:
       GLIBCXX_USE_CXX11_ABI: ${{ matrix.GLIBCXX_USE_CXX11_ABI }}
@@ -48,7 +48,7 @@ jobs:
           python-version: 3.8
 
       - name: Install dependencies
-        if: ${{ matrix.os == 'ubuntu-18.04' }}
+        if: ${{ matrix.os == 'ubuntu-20.04' }}
         run: |
           source 3rdparty/webrtc/webrtc_build.sh
           install_dependencies_ubuntu

3rdparty/curl/curl.cmake

@@ -65,7 +65,7 @@ else()
     # Optimize for Ubuntu x86. Curl can take a long time to configure.
     #
     # To generate pre-compiled curl:
-    # 1. Use Ubuntu 18.04 (eg. in docker), not 20.04+.
+    # 1. Use oldest supported Ubuntu (eg. in docker), not the latest.
     # 2. -DBUILD_CURL_FROM_SOURCE=ON, build Open3D: make ext_curl
     # 3. cd build/curl
     # 4. tar -czvf curl_7.88.0_linux_x86_64.tar.gz include lib

3rdparty/find_dependencies.cmake

@@ -1405,24 +1405,6 @@ else()
 endif()
 list(APPEND Open3D_3RDPARTY_HEADER_TARGETS_FROM_SYSTEM Open3D::3rdparty_opengl)
 
-# CPU Rendering
-if(BUILD_GUI AND UNIX AND NOT APPLE)
-    include(FetchContent)
-    FetchContent_Declare(
-        download_mesa_libgl
-        PREFIX mesa
-        URL https://github.com/isl-org/open3d_downloads/releases/download/mesa-libgl/mesa_libGL_22.1.4.tar.bz2
-        URL_HASH SHA256=5732bfb70e8fcc747018820bc8fd31cd1867ebae5aa09baf65482b42c134d45a
-        DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/mesa"
-        )
-    FetchContent_MakeAvailable(download_mesa_libgl)
-
-    set(MESA_CPU_GL_LIBRARY "${download_mesa_libgl_SOURCE_DIR}/libGL.so.1.2.0" "${download_mesa_libgl_SOURCE_DIR}/libEGL.so.1.0.0"
-        "${download_mesa_libgl_SOURCE_DIR}/libgallium_dri.so" "${download_mesa_libgl_SOURCE_DIR}/kms_swrast_dri.so"
-        "${download_mesa_libgl_SOURCE_DIR}/swrast_dri.so")
-    message(STATUS "MESA_CPU_GL_LIBRARY: ${MESA_CPU_GL_LIBRARY}")
-endif()
-
 # RPC interface
 # zeromq
 if(USE_SYSTEM_ZEROMQ)

3rdparty/webrtc/Dockerfile.webrtc

@@ -13,7 +13,7 @@
 #   - docker run --rm --entrypoint cat open3d-webrtc:abi1 \
 #       webrtc_60e6748_cxx-abi-1.tar.gz > webrtc_60e6748_cxx-abi-1.tar.gz
 
-FROM ubuntu:18.04
+FROM ubuntu:20.04
 
 ARG SUDO=command
 COPY 3rdparty/webrtc 3rdparty/webrtc

CMakeLists.txt

@@ -1,6 +1,7 @@
-cmake_minimum_required(VERSION 3.22)
-# If you're using Ubuntu 18.04, we suggest you install the latest CMake from the
+cmake_minimum_required(VERSION 3.24)
+# If you're using Ubuntu 20.04, we suggest you install the latest CMake from the
 # official repository https://apt.kitware.com/.
+# CMake 3.24+ is required for CUDA native arch selection
 # CMake 3.22+ is required by Assimp v5.4.2
 # CMake 3.20+ is required to detect IntelLLVM compiler for SYCL
 
@@ -401,17 +402,44 @@ cmake_language(EVAL CODE "cmake_language(DEFER CALL open3d_patch_findthreads_mod
 
 # Build CUDA module by default if CUDA is available
 if(BUILD_CUDA_MODULE)
-    include(Open3DMakeCudaArchitectures)
-    open3d_make_cuda_architectures(CUDA_ARCHS)
-    set(CMAKE_CUDA_ARCHITECTURES ${CUDA_ARCHS})
-
-    message(STATUS "Using CUDA architectures: ${CMAKE_CUDA_ARCHITECTURES}")
+    if(BUILD_COMMON_CUDA_ARCHS)
+        if (CMAKE_CUDA_ARCHITECTURES)
+            message(STATUS "Building with user-provided architectures: ${CMAKE_CUDA_ARCHITECTURES}")
+        else()
+            # Build with all supported architectures for previous 2 generations and
+            # M0 (minor=0) architectures for previous generations (including
+            # deprecated). Note that cubin for M0 runs on GPUs with architecture Mx.
+            # This is a tradeoff between binary size / build time and runtime on
+            # older architectures. See:
+            # https://docs.nvidia.com/cuda/cuda-c-best-practices-guide/index.html#building-for-maximum-compatibility
+            # https://docs.nvidia.com/cuda/ampere-compatibility-guide/index.html#application-compatibility-on-ampere
+            # https://en.wikipedia.org/wiki/CUDA#GPUs_supported
+            find_package(CUDAToolkit REQUIRED)
+            if(CUDAToolkit_VERSION VERSION_GREATER_EQUAL "11.8")
+                set(CMAKE_CUDA_ARCHITECTURES 75-real 80-real 86-real 89-real 90)    # Turing, Ampere, Ada Lovelace, Hopper
+            elseif(CUDAToolkit_VERSION VERSION_GREATER_EQUAL "11.1")
+                set(CMAKE_CUDA_ARCHITECTURES 70-real 75-real 80-real 86)            # Volta, Turing, Ampere
+            elseif(CUDAToolkit_VERSION VERSION_GREATER_EQUAL "11.0")
+                set(CMAKE_CUDA_ARCHITECTURES 60-real 70-real 72-real 75-real 80)    # Pascal, Volta, Turing, Ampere
+            else()
+                set(CMAKE_CUDA_ARCHITECTURES 30-real 50-real 60-real 70-real 75)    # Kepler, Maxwell, Pascal, Turing
+            endif()
+            message(STATUS "Using CUDA architectures: ${CMAKE_CUDA_ARCHITECTURES}")
+        endif()
+    else()
+        execute_process(COMMAND nvidia-smi RESULT_VARIABLE NVIDIA_CHECK OUTPUT_QUIET)
+        if (NVIDIA_CHECK EQUAL 0)
+            message(STATUS "Building with native CUDA architecture.")
+            set(CMAKE_CUDA_ARCHITECTURES native)
+        else()
+            message(WARNING "No CUDA GPU detected. Building with CMake default CUDA architecture.")
+        endif()
+    endif()
     enable_language(CUDA)
-
     if (CMAKE_CUDA_COMPILER_ID STREQUAL "NVIDIA" AND CMAKE_CUDA_COMPILER_VERSION VERSION_LESS "10.1")
         message(FATAL_ERROR "CUDA 10.0 and older are not supported. Please upgrade to CUDA 10.1 or newer.")
     endif()
-endif ()
+endif()
 
 # ISPC language emulation support
 include(Open3DISPC)
@@ -488,6 +516,12 @@ macro(add_source_group module_name)
     source_group("Source Files\\Material" FILES ${MODULE_MATERIAL_FILES})
 endmacro()
 
+if (LINUX_AARCH64)
+# Fix for ImportError: ... /pybind.cpython-310-aarch64-linux-gnu.so: cannot allocate memory in static TLS block
+# https://bugs.launchpad.net/ubuntu/+source/mysql-8.0/+bug/1889851
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftls-model=global-dynamic")
+endif()
+
 # Include convenience functions
 include(Open3DLink3rdpartyLibraries)
 include(Open3DSetGlobalProperties)

cpp/pybind/CMakeLists.txt

@@ -84,8 +84,7 @@ set_target_properties(pybind PROPERTIES
 # libc++.so is a linker script including libc++.so.1 and libc++abi.so, so append 1 to libc++.so
 set(PYTHON_EXTRA_LIBRARIES "")
 if (BUILD_GUI AND CMAKE_SYSTEM_NAME STREQUAL "Linux")
-    list(APPEND PYTHON_EXTRA_LIBRARIES ${CPP_LIBRARY}.1 ${CPPABI_LIBRARY}
-        ${MESA_CPU_GL_LIBRARY})
+    list(APPEND PYTHON_EXTRA_LIBRARIES ${CPP_LIBRARY}.1 ${CPPABI_LIBRARY})
 endif()
 if (WITH_OPENMP AND APPLE AND NOT BUILD_SHARED_LIBS)
 # Package libomp v11.1.0, if it is not installed. Later version cause crash on

docker/Dockerfile.wheel

@@ -1,5 +1,5 @@
 # FROM must be called before other ARGS except for ARG BASE_IMAGE
-ARG BASE_IMAGE=nvidia/cuda:11.7.1-cudnn8-devel-ubuntu18.04
+ARG BASE_IMAGE=nvidia/cuda:11.7.1-cudnn8-devel-ubuntu20.04
 FROM ${BASE_IMAGE}
 
 # Customizable build arguments from cuda.yml