Style fix and...

Update pip, scipy versions.
Use requirements_test.txt in CI
tensorflow-gpu -> tensorflow for 2.13+
remove CUDA_VERSION setting in ci_utils.sh. THis happens in docker/build_docker.sh now.

.github/workflows/documentation.yml

@@ -39,7 +39,7 @@ jobs:
       - name: Checkout Open3D-ML source code
         uses: actions/checkout@v3
         with:
-          repository: OlivierLDff/Open3D-ML
+          repository: isl-org/Open3D-ML
           path: ${{ env.OPEN3D_ML_ROOT }}
 
       - name: Setup cache

.github/workflows/macos.yml

@@ -135,6 +135,8 @@ jobs:
             python_version: '3.8'
           - is_master: false
             python_version: '3.9'
+          - is_master: false
+            python_version: '3.10'
 
     env:
       BUILD_CUDA_MODULE: OFF
@@ -240,6 +242,8 @@ jobs:
             python_version: '3.8'
           - is_master: false
             python_version: '3.9'
+          - is_master: false
+            python_version: '3.10'
 
     env:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
@@ -250,7 +254,7 @@ jobs:
       - name: Checkout Open3D-ML source code
         uses: actions/checkout@v3
         with:
-          repository: OlivierLDff/Open3D-ML
+          repository: isl-org/Open3D-ML
           path: ${{ env.OPEN3D_ML_ROOT }}
 
       - name: Download wheels

.github/workflows/ubuntu-wheel.yml

@@ -35,6 +35,8 @@ jobs:
             python_version: '3.8'
           - is_master: false
             python_version: '3.9'
+          - is_master: false
+            python_version: '3.10'
     env:
       DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }}
       PYTHON_VERSION: ${{ matrix.python_version }}
@@ -120,6 +122,8 @@ jobs:
             python_version: '3.8'
           - is_master: false
             python_version: '3.9'
+          - is_master: false
+            python_version: '3.10'
     env:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
     steps:
@@ -132,7 +136,7 @@ jobs:
       - name: Checkout Open3D-ML source code
         uses: actions/checkout@v3
         with:
-          repository: OlivierLDff/Open3D-ML
+          repository: isl-org/Open3D-ML
           path: ${{ env.OPEN3D_ML_ROOT }}
       - name: Download wheels
         uses: actions/download-artifact@v3

.github/workflows/vtk_packages.yml

@@ -9,6 +9,7 @@ on:
 jobs:
 
   Linux:
+    # TODO: Convert to docker
     runs-on: ubuntu-18.04
     steps:
       - name: Checkout source code

.github/workflows/windows.yml

@@ -19,15 +19,11 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  PIP_VER: "21.1.1"
+  PIP_VER: "23.2.1"
   WHEEL_VER: "0.38.4"
   STOOLS_VER: "67.3.2"
-  PYTEST_VER: "7.1.2"
-  PYTEST_RANDOMLY_VER: "3.8.0"
-  SCIPY_VER: "1.7.3"
   JEDI_VER: "0.17.2"  # https://github.com/ipython/ipython/issues/12740
   IDNA_VER: "2.8"  # https://github.com/psf/requests/issues/5710
-  TENSORBOARD_VER: "2.8"
   SRC_DIR: "D:\\a\\open3d\\open3d"
   BUILD_DIR: "C:\\Open3D\\build"
   NPROC: 2
@@ -254,6 +250,8 @@ jobs:
             python_version: '3.8'
           - is_master: false
             python_version: '3.9'
+          - is_master: false
+            python_version: '3.10'
 
     steps:
       - name: Checkout source code
@@ -357,6 +355,8 @@ jobs:
             python_version: '3.8'
           - is_master: false
             python_version: '3.9'
+          - is_master: false
+            python_version: '3.10'
 
     steps:
       - name: Checkout source code
@@ -384,10 +384,7 @@ jobs:
           python -m pip install --upgrade pip==${{ env.PIP_VER }} `
             wheel==${{ env.WHEEL_VER }} `
             setuptools==${{ env.STOOLS_VER }}
-          python -m pip install -U pytest==${{ env.PYTEST_VER }}
-          python -m pip install -U pytest-randomly==${{ env.PYTEST_RANDOMLY_VER }}
-          python -m pip install -U scipy==${{ env.SCIPY_VER }} `
-            tensorboard==${{ env.TENSORBOARD_VER }}
+          python -m pip install -U -r python/requirements_test.txt
           $py_tag=(python -c "import sys; print(f'cp{sys.version_info.major}{sys.version_info.minor}')")
           if (Test-Path -Path "pip_package") {
             $PIP_PKG_NAME=(Get-ChildItem pip_package\open3d*-$py_tag-*.whl).Name

python/requirements_build.txt

@@ -1,3 +1,3 @@
-setuptools>=50.3.2
+setuptools>=67.3.2
 wheel==0.38.4
 yapf==0.30.0

python/requirements_test.txt

@@ -1,6 +1,6 @@
 pytest==7.1.2
 pytest-randomly==3.8.0
-scipy==1.11.2
+scipy==1.10.1
 tensorboard==2.13.0
 oauthlib==3.2.2
 certifi==2023.7.22

python/test/ml_ops/test_fixed_radius_search.py

@@ -12,7 +12,7 @@
 import mltest
 if o3d._build_config['BUILD_PYTORCH_OPS']:
     import torch
-if o3d._build_config['BUILD_TENSORFLOW_OPS']: 
+if o3d._build_config['BUILD_TENSORFLOW_OPS']:
     import tensorflow as tf
 
 # skip all tests if the ml ops were not built

python/test/ml_ops/test_knn_search.py

@@ -12,7 +12,7 @@
 import mltest
 if o3d._build_config['BUILD_PYTORCH_OPS']:
     import torch
-if o3d._build_config['BUILD_TENSORFLOW_OPS']: 
+if o3d._build_config['BUILD_TENSORFLOW_OPS']:
     import tensorflow as tf
 
 # skip all tests if the ml ops were not built

python/test/ml_ops/test_radius_search.py

@@ -12,7 +12,7 @@
 import mltest
 if o3d._build_config['BUILD_PYTORCH_OPS']:
     import torch
-if o3d._build_config['BUILD_TENSORFLOW_OPS']: 
+if o3d._build_config['BUILD_TENSORFLOW_OPS']:
     import tensorflow as tf
 
 # skip all tests if the tf ops were not built and disable warnings caused by

util/ci_utils.sh

@@ -23,38 +23,19 @@ BUILD_PYTORCH_OPS=${BUILD_PYTORCH_OPS:-ON}
 LOW_MEM_USAGE=${LOW_MEM_USAGE:-OFF}
 
 # Dependency versions:
-# CUDA
-if [[ $BUILD_TENSORFLOW_OPS == ON || $BUILD_PYTORCH_OPS == ON ||
-    $UBUNTU_VERSION != bionic ]]; then
-    # CUDA version in sync with PyTorch and Tensorflow
-    CUDA_VERSION=("11-7" "11.7")
-    CUDNN_MAJOR_VERSION=8
-    CUDNN_VERSION="8.0.5.39_cuda11.7"
-    GCC_MAX_VER=9
-else
-    # Without MLOps, ensure Open3D works with the lowest supported CUDA version
-    # Not available in Nvidia focal repos
-    CUDA_VERSION=("10-1" "10.1")
-    CUDNN_MAJOR_VERSION=8
-    CUDNN_VERSION="8.0.5.39-1+cuda10.1"
-    GCC_MAX_VER=7
-fi
+# CUDA: see docker/docker_build.sh
 # ML
 TENSORFLOW_VER="2.13.0"
-TENSORBOARD_VER="2.13.0"
 TORCH_VER="2.0.1"
 TORCH_CPU_GLNX_VER="${TORCH_VER}+cpu"
-TORCH_CUDA_GLNX_VER="${TORCH_VER}+cu117"
+TORCH_CUDA_GLNX_VER="${TORCH_VER}+cu117" # match CUDA_VERSION in docker/docker_build.sh
 PYTHON_VER=$(python -c 'import sys; ver=f"{sys.version_info.major}{sys.version_info.minor}"; print(f"cp{ver}-cp{ver}{sys.abiflags}")' 2>/dev/null || true)
 TORCH_MACOS_VER="${TORCH_VER}"
 TORCH_REPO_URL="https://download.pytorch.org/whl/torch/"
 # Python
-PIP_VER="21.1.1"
+PIP_VER="23.2.1"
 WHEEL_VER="0.38.4"
 STOOLS_VER="67.3.2"
-PYTEST_VER="7.1.2"
-PYTEST_RANDOMLY_VER="3.8.0"
-SCIPY_VER="1.7.3"
 YAPF_VER="0.30.0"
 PROTOBUF_VER="4.24.0"
 
@@ -68,16 +49,15 @@ install_python_dependencies() {
     python -m pip install --upgrade pip=="$PIP_VER" wheel=="$WHEEL_VER" \
         setuptools=="$STOOLS_VER"
     if [[ "with-unit-test" =~ ^($options)$ ]]; then
-        python -m pip install -U scipy=="$SCIPY_VER" pytest=="$PYTEST_VER" \
-            pytest-randomly=="$PYTEST_RANDOMLY_VER"
+        python -m pip install -U -r python/requirements_test.txt
     fi
     if [[ "with-cuda" =~ ^($options)$ ]]; then
-        TF_ARCH_NAME=tensorflow-gpu
+        TF_ARCH_NAME=tensorflow
         TF_ARCH_DISABLE_NAME=tensorflow-cpu
         TORCH_GLNX="torch==$TORCH_CUDA_GLNX_VER"
     else
         TF_ARCH_NAME=tensorflow-cpu
-        TF_ARCH_DISABLE_NAME=tensorflow-gpu
+        TF_ARCH_DISABLE_NAME=tensorflow
         TORCH_GLNX="torch==$TORCH_CPU_GLNX_VER"
     fi
 
@@ -300,10 +280,7 @@ test_wheel() {
 run_python_tests() {
     # shellcheck disable=SC1091
     source open3d_test.venv/bin/activate
-    python -m pip install -U pytest=="$PYTEST_VER" \
-        pytest-randomly=="$PYTEST_RANDOMLY_VER" \
-        scipy=="$SCIPY_VER" \
-        tensorboard=="$TENSORBOARD_VER"
+    python -m pip install -U -r python/requirements_test.txt
     echo Add --randomly-seed=SEED to the test command to reproduce test order.
     pytest_args=("$OPEN3D_SOURCE_ROOT"/python/test/)
     if [ "$BUILD_PYTORCH_OPS" == "OFF" ] || [ "$BUILD_TENSORFLOW_OPS" == "OFF" ]; then