Update min OS to Ubuntu 20.04

docker/docker_test.sh

@@ -52,7 +52,7 @@ OPTION:
     3-ml-shared-focal         : CUDA CI, 3-ml-shared-focal, developer mode
     4-shared-focal            : CUDA CI, 4-shared-focal, developer mode
     4-shared-focal-release    : CUDA CI, 4-shared-focal, release mode
-    5-ml-jammy                 : CUDA CI, 5-ml-jammy, developer mode
+    5-ml-jammy                : CUDA CI, 5-ml-jammy, developer mode
 "
 
 HOST_OPEN3D_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")"/.. >/dev/null 2>&1 && pwd)"

docs/docker.in.rst

@@ -139,46 +139,7 @@ driver with an environment variable (``EGL_PLATFORM=surfaceless``):
     # Run headless rendering example without GPU (CPU rendering)
     docker run -v "$PWD":/root open3d-headless:latest
 
-In Ubuntu 18.04, we need to install some additional dependencies. Here is an
-example Ubuntu / Debian based docker file that runs the ``render_to_image.py``
-rendering example.  Other (old) Linux (e.g. RHEL) distributions will need
-different dependency packages.
-
-.. code-block:: bash
-
-    mkdir open3d-headless-docker && cd open3d-headless-docker
-    wget https://raw.githubusercontent.com/isl-org/Open3D/v@OPEN3D_VERSION@/examples/python/visualization/render_to_image.py
-    # Build docker image
-    docker build -t open3d-headless -f- . <<EOF
-    FROM ubuntu:18.04
-    RUN apt-get update \
-        && apt-get install --yes --no-install-recommends \
-        libgl1 libgomp1 python3-pip \
-        libdrm2 libedit2 libexpat1 libgcc-s1 libglapi-mesa libllvm10 libx11-xcb1 \
-        libxcb-dri2-0 libxcb-glx0 libxcb-shm0 libxcb-xfixes0 libxfixes3 \
-        libxxf86vm1 \
-        && rm -rf /var/lib/apt/lists/*
-
-    # Install Open3D from the PyPI repositories
-    RUN python3 -m pip install --no-cache-dir --upgrade pip && \
-        python3 -m pip install --no-cache-dir --upgrade open3d==@OPEN3D_VERSION@
-
-    WORKDIR /root/
-    ENTRYPOINT ["python3", "/root/render_to_image.py"]
-    EOF
-
-    # Run headless rendering example with Intel GPU
-    docker run --device=/dev/dri:/dev/dri \
-        -v "$PWD":/root open3d-headless:latest
-    # Run headless rendering example with Nvidia GPU
-    docker run  --gpus 'all,"capabilities=compute,utility,graphics"' \
-        -v "$PWD":/root open3d-headless:latest
-    # Run headless rendering example without GPU (CPU rendering)
-    docker run  --env OPEN3D_CPU_RENDERING=true  \
-        -v "$PWD":/root open3d-headless:latest
-
-
-After running one of these commands, there will be two offscreen rendered images
+After running these commands, there will be two offscreen rendered images
 ``test.png`` and ``test2.png`` in the ``open3d-headless-docker`` folder.
 
 

util/ci_utils.sh

@@ -249,8 +249,8 @@ test_wheel() {
     python -m pip --version
     echo "Installing Open3D wheel $wheel_path in virtual environment..."
     python -m pip install "$wheel_path"
-    python -c "import open3d; print('Installed:', open3d); print('BUILD_CUDA_MODULE: ', open3d._build_config['BUILD_CUDA_MODULE'])"
-    python -c "import open3d; print('CUDA available: ', open3d.core.cuda.is_available())"
+    python -W default -c "import open3d; print('Installed:', open3d); print('BUILD_CUDA_MODULE: ', open3d._build_config['BUILD_CUDA_MODULE'])"
+    python -W default -c "import open3d; print('CUDA available: ', open3d.core.cuda.is_available())"
     echo
     # echo "Dynamic libraries used:"
     # DLL_PATH=$(dirname $(python -c "import open3d; print(open3d.cpu.pybind.__file__)"))/..
@@ -260,27 +260,21 @@ test_wheel() {
     #     find "$DLL_PATH"/cpu/ -type f -execdir otool -L {} \;
     # fi
     echo
-    # FIXME: Needed because Open3D-ML main TF and PyTorch is older than dev.
-    if [ $BUILD_CUDA_MODULE == ON ]; then
-        install_python_dependencies with-cuda
-    else
-        install_python_dependencies
-    fi
     if [ "$BUILD_PYTORCH_OPS" == ON ]; then
-        # python -m pip install -r "$OPEN3D_ML_ROOT/requirements-torch.txt"
-        python -c \
+        python -m pip install -r "$OPEN3D_ML_ROOT/requirements-torch.txt"
+        python  -W default -c \
             "import open3d.ml.torch; print('PyTorch Ops library loaded:', open3d.ml.torch._loaded)"
     fi
     if [ "$BUILD_TENSORFLOW_OPS" == ON ]; then
-        # python -m pip install -r "$OPEN3D_ML_ROOT/requirements-tensorflow.txt"
-        python -c \
+        python -m pip install -r "$OPEN3D_ML_ROOT/requirements-tensorflow.txt"
+        python  -W default -c \
             "import open3d.ml.tf.ops; print('TensorFlow Ops library loaded:', open3d.ml.tf.ops)"
     fi
     if [ "$BUILD_TENSORFLOW_OPS" == ON ] && [ "$BUILD_PYTORCH_OPS" == ON ]; then
         echo "Importing TensorFlow and torch in the reversed order"
-        python -c "import tensorflow as tf; import torch; import open3d.ml.torch as o3d"
+        python -W default -c "import tensorflow as tf; import torch; import open3d.ml.torch as o3d"
         echo "Importing TensorFlow and torch in the normal order"
-        python -c "import open3d.ml.torch as o3d; import tensorflow as tf; import torch"
+        python -W default -c "import open3d.ml.torch as o3d; import tensorflow as tf; import torch"
     fi
     deactivate open3d_test.venv # argument prevents unbound variable error
 }