Open3D

.circleci/config.yml

@@ -8,6 +8,7 @@ x-references:
   build_config: &build_config
     docker:
       - image: cimg/python:3.8
+    # resource_class: medium
     shell: /bin/bash -eo pipefail
     working_directory: ~/vsi
     environment:
@@ -91,7 +92,7 @@ commands:
           command: |
 
             # array of available blueprint services to build
-            BLUEPRINT_SERVICES=( gdal pdal nglog s2 tinycudann )
+            BLUEPRINT_SERVICES=( gdal pdal nglog s2 tinycudann open3d )
 
             # array of test services
             TEST_SERVICES=()

README.rst

@@ -384,6 +384,76 @@ A container using the tinu-cuda-nn wheel must have appropriate versions of pytor
     import torch
     import tinycudann
 
+Python bindings for open3d
+--------------------------
+
+.. code-block:: yaml
+
+   services:
+
+      open3d:
+         build:
+            context: "${VSI_COMMON_DIR}/docker/blueprints"
+            dockerfile: blueprint_open3d.Dockerfile
+            args:
+               # BUILD_CUDA_MODULE: ON|OFF
+               # https://www.open3d.org/docs/release/compilation.html#:~:text=To%20build%20Open3D%20with%20CUDA%20support%2C%20configure%20with%3A
+               # CMAKE_CUDA_ARCHITECTURES: 86-real
+               # https://cmake.org/cmake/help/latest/prop_tgt/CUDA_ARCHITECTURES.html#prop_tgt:CUDA_ARCHITECTURES
+               # CUDA_VERSION: "12.9.1"
+               # https://hub.docker.com/r/nvidia/cuda/tags
+               # OPEN3D_VERSION: "v2.0"
+               # https://github.com/isl-org/Open3D/releases
+               # PYTHON_VERSION: "3.13.12"
+               # https://www.python.org/doc/versions/
+               # VSI_RECIPE_REPO: "vsiri/recipe"
+               # https://hub.docker.com/r/vsiri/recipe
+         image: &open3d_image
+            example/project:open3d
+
+      example:
+         build:
+            context: .
+            dockerfile: example.Dockerfile
+            args:
+               OPEN3D_IMAGE: *open3d_image
+         image: example/project:example
+
+========== ======================= ====
+Name       Open3D
+Output dir ``/usr/local``
+Build Args ``BASE_IMAGE``                Base image to build the wheel in. Defaults to ``manylinux_2_28_x86_64``
+..         ``BUILD_CUDA_MODULE``         Build Open3D cuda module
+..         ``CMAKE_CUDA_ARCHITECTURES``  Build Open3D for these CUDA architectures
+..         ``CUDA_VERSION``              Build Open3D for this CUDA version
+..         ``OPEN3D_VERSION``            Open3D version to build from source
+..         ``PYTHON_VERSION``            Build Open3D for this python version
+..         ``VSI_RECIPE_REPO``           VSI docker recipe repo
+========== ======================= ====
+
+Compiles the Open3D wheel for use in python. See [github repo](https://github.com/isl-org/Open3D) for usage details.
+
+A container using the CUDA enabled Open3D wheel must have appropriate versions of CUDA installed.
+
+.. code-block:: Dockerfile
+
+   # global arguments
+   ARG OPEN3D_IMAGE
+   FROM ${OPEN3D_IMAGE} AS open3d
+
+   FROM some_image
+
+   ...
+
+   COPY --from=open3d /usr/local /usr/local
+
+   RUN pip install /usr/local/share/just/wheels/*
+   # Or using pip-tools, add "--find-links /usr/local/share/just/wheels" to requirements.in
+
+.. code-block:: example.py
+
+   import open3d
+
 ---------------------
 Blueprint maintenance
 ---------------------

blueprint_open3d.Dockerfile

@@ -0,0 +1,165 @@
+# syntax=docker/dockerfile:1.4
+
+ARG BASE_IMAGE="quay.io/pypa/manylinux_2_28_x86_64:2025.09.28-1"
+ARG VSI_RECIPE_REPO="vsiri/recipe"
+
+# docker recipes
+FROM ${VSI_RECIPE_REPO}:cuda AS cuda
+
+# main builder stage
+FROM ${BASE_IMAGE} AS builder
+
+# update shell
+SHELL ["/usr/bin/env", "/bin/bash", "-euxvc"]
+
+# install CUDA
+ARG CUDA_RECIPE_TARGET="devel"
+COPY --from=cuda /usr/local /usr/local
+RUN shopt -s nullglob; for patch in /usr/local/share/just/container_build_patch/*; do "${patch}"; done
+
+# dependencies
+RUN dnf install -y \
+        libXcursor-devel \
+        libXinerama-devel \
+        libXi-devel \
+        libxkbcommon-devel \
+        libXrandr-devel \
+        mesa-libGLU-devel \
+        wayland-devel \
+        # could be used to speed build via USE_SYSTEM_* cmake options,
+        # however open3d seems to use a lot of custom versions/patches
+        # libcurl-devel \
+        # libjpeg-turbo-devel \
+        # openssl-devel \
+        ; \
+    rm -rf /var/cache/dnf/*
+
+# clone
+ARG OPEN3D_VERSION="v0.19.0"
+RUN git clone https://github.com/isl-org/Open3D.git /open3d/source; \
+    git -C /open3d/source checkout "${OPEN3D_VERSION}";
+
+# workarounds
+RUN cd /open3d/source; \
+    # remove Development.Embed from find_package(python)
+    sed -i 's|COMPONENTS Interpreter Development)|COMPONENTS Interpreter Development.Module)|g' \
+        ./CMakeLists.txt; \
+    # stdgpu library directory
+    sed -i 's|/lib|/lib64|g' ./3rdparty/stdgpu/stdgpu.cmake; \
+    # remove "-DPYTHON_EXTRA_LIBRARIES" as this will be handled by auditwheel
+    sed -i 's/^[^#]*-DPYTHON_EXTRA_LIBRARIES/#&/' \
+        ./cpp/pybind/CMakeLists.txt; \
+    # additionally print openssl in configuration summary
+    sed -i 's/ZeroMQ/ZeroMQ openssl/g' \
+        ./cmake/Open3DPrintConfigurationSummary.cmake; \
+    # avoid "open3d-cpu" even when building without GPU capabilities
+    sed -i 's/name += "-cpu"/#&/g' ./python/setup.py; \
+    # don't artifically name the python wheel "manylinux"
+    sed -i 's/plat = f"manylinux/#&/g' ./python/setup.py; \
+    # complete!
+    echo "workarounds complete";
+
+# python venv
+ARG PYTHON_VERSION="3.13.12"
+RUN \
+    # manylinux python directory
+    python_major=${PYTHON_VERSION%%.*}; \
+    python_minor=${PYTHON_VERSION#*.}; \
+    python_minor=${python_minor%%.*}; \
+    python_dir=("/opt/python/cp${python_major}${python_minor}-"cp*[0-9m]); \
+    #
+    # create python venv & add build dependencies
+    "${python_dir}/bin/python3" -m venv /venv; \
+    source /venv/bin/activate; \
+    pip install \
+        ninja \
+        setuptools \
+        # avoid CMAKE_POLICY_VERSION_MINIMUM issues for 3rd party dependencies
+        "cmake<4" \
+        # USE_SYSTEM_PYBIND11 cmake option
+        # note pybind11 3.0 appears to require open3d>0.19.0
+        "pybind11[global]<3" \
+        ;
+
+# build twice - once for CPU, once for GPU
+# https://github.com/isl-org/Open3D/issues/4371#issuecomment-985943887
+#
+# Note the two builds don't play well with BUILD_SHARED_LIBS=ON, as both cpu
+# and gpu builds produce identically named libopen3d.so files with different
+# capabilities, but only one gets loaded at runtime.
+#
+# set BUILD_CUDA_MODULE=ON to build cuda capabilities. Note this will
+# increase the installed python package size by nearly 1GB.
+# Use CMAKE_CUDA_ARCHITECTURES to control the CUDA architectures.
+
+# setup
+RUN \
+    # create build directory
+    mkdir -p /open3d/build; \
+    # common cmake options saved to disk
+    CMAKE_COMMON_OPTS=( \
+        -S /open3d/source \
+        # -B /open3d/build \
+        -G Ninja \
+        -D BUILD_GUI=OFF \
+        -D BUILD_WEBRTC=OFF \
+        -D BUILD_EXAMPLES=OFF \
+        # disable hash on build version
+        -D DEVELOPER_BUILD=OFF \
+        # python options
+        -D BUILD_PYTHON_MODULE=ON \
+        -D Python3_ROOT=/venv \
+        # system packages to speed build process
+        # see notes above regarding adding these system packages
+        # -D USE_SYSTEM_CURL=ON \
+        # -D USE_SYSTEM_JPEG=ON \
+        # -D USE_SYSTEM_OPENSSL=ON \
+        -D USE_SYSTEM_PYBIND11=ON \
+    ); \
+    declare -p CMAKE_COMMON_OPTS > /open3d/common.sh
+
+# CPU build
+ARG NINJA_BUILD_CONCURRENCY=
+RUN cd /open3d/build; \
+    source /venv/bin/activate; \
+    source /open3d/common.sh; \
+    cmake "${CMAKE_COMMON_OPTS[@]}" | tee -a /open3d/config-cpu.log; \
+    ninja ${NINJA_BUILD_CONCURRENCY:+ -j${NINJA_BUILD_CONCURRENCY}};
+
+# GPU build
+ARG BUILD_CUDA_MODULE=OFF
+ARG CMAKE_CUDA_ARCHITECTURES=86-real
+
+RUN if [ "${BUILD_CUDA_MODULE}" == "ON" ]; then \
+        cd /open3d/build; \
+        source /venv/bin/activate; \
+        source /open3d/common.sh; \
+        cmake \
+            "${CMAKE_COMMON_OPTS[@]}" \
+            -D CMAKE_CUDA_COMPILER=/usr/local/cuda/bin/nvcc \
+            -D BUILD_CUDA_MODULE=ON \
+            -D CMAKE_CUDA_ARCHITECTURES="${CMAKE_CUDA_ARCHITECTURES}" \
+            | tee -a /open3d/config-gpu.log; \
+        ninja ${NINJA_BUILD_CONCURRENCY:+ -j${NINJA_BUILD_CONCURRENCY}}; \
+    fi;
+
+# build `pip-package` cmake target to create base python wheel
+RUN source /venv/bin/activate; \
+    cd /open3d/build; \
+    ninja pip-package ${NINJA_BUILD_CONCURRENCY:+ -j${NINJA_BUILD_CONCURRENCY}};
+
+# auditwheel
+RUN \
+    # add libtbb.so to LD_LIBRARY_PATH
+    TBB_SO="$(find /open3d/build -name 'libtbb.so' | head -n1)"; \
+    TBB_LIBRARY_PATH="$(dirname "${TBB_SO}")"; \
+    export LD_LIBRARY_PATH="${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}:}${TBB_LIBRARY_PATH}"; \
+    # auditwheel
+    mkdir -p /wheelhouse; \
+    SOURCE_WHEEL="$(find /open3d/build -type f -name '*.whl' | head -n1)"; \
+    auditwheel repair "${SOURCE_WHEEL}" -w /wheelhouse;
+
+# final wheel in clean environment
+FROM scratch
+
+COPY --from=builder /wheelhouse /usr/local/share/just/wheels

docker-compose.yml

@@ -91,3 +91,18 @@ services:
         # TORCH_VERSION: "${TORCH_VERSION}"
         # VSI_RECIPE_REPO: "${VSI_RECIPE_REPO}"
     image: vsiri/blueprint:tinycudann
+
+  # Example
+  open3d:
+    build:
+      context: .
+      dockerfile: blueprint_open3d.Dockerfile
+      args:
+        # BASE_IMAGE: "${BASE_IMAGE}"
+        # BUILD_CUDA_MODULE: ON|OFF
+        # CMAKE_CUDA_ARCHITECTURES: 86-real
+        CUDA_VERSION: "12.9.1"
+        # OPEN3D_VERSION: "${OPEN3D_VERSION}"
+        # PYTHON_VERSION: "${PYTHON_VERSION}"
+        # VSI_RECIPE_REPO: "${VSI_RECIPE_REPO}"
+    image: vsiri/blueprint:open3d

tests/docker-compose.yml

@@ -21,6 +21,12 @@ x-args:
     TINYCUDANN_VERSION: "v2.0"
     TCNN_CUDA_ARCHITECTURES: "70,86"
     TORCH_VERSION: &tinycudann_torch_version "2.9.1+cu129"
+  oepn3d: &open3d_args
+    BUILD_CUDA_MODULE: OFF
+    CMAKE_CUDA_ARCHITECTURES: 86-real
+    CUDA_VERSION: &open3d_cuda_version "12.9.1"
+    OPEN3D_VERSION: "v0.19.0"
+    PYTHON_VERSION: &open3d_python_version "3.13.12"
 
 services:
 
@@ -65,6 +71,14 @@ services:
         <<: *tinycudann_args
     image: &tinycudann_image vsiri/blueprint_test:tinycudann
 
+  open3d:
+    build:
+      context: ..
+      dockerfile: blueprint_open3d.Dockerfile
+      args:
+        <<: *open3d_args
+    image: &open3d_image vsiri/blueprint_test:open3d
+
   test_gdal:
     build:
       context: .
@@ -114,3 +128,13 @@ services:
         PYTHON_VERSION: *tinycudann_python_version
         TORCH_VERSION: *tinycudann_torch_version
     image: vsiri/blueprint_test:test_tinycudann
+
+  test_open3d:
+    build:
+      context: .
+      dockerfile: test_open3d.Dockerfile
+      args:
+        OPEN3D_IMAGE: *open3d_image
+        CUDA_VERSION: *open3d_cuda_version
+        PYTHON_VERSION: *open3d_python_version
+    image: vsiri/blueprint_test:test_open3d

tests/test-open3d.bsh

@@ -0,0 +1,45 @@
+#!/usr/bin/env bash
+
+if [ -z "${VSI_COMMON_DIR+set}" ]; then
+  VSI_COMMON_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.."; pwd)"
+fi
+
+source "${VSI_COMMON_DIR}/tests/testlib.bsh"
+source "${VSI_COMMON_DIR}/tests/test_utils.bsh"
+
+: ${DOCKER=docker}
+
+if ! command -v "${DOCKER}" &> /dev/null; then
+  skip_next_test
+fi
+begin_test "open3d"
+(
+  setup_test
+
+  DOCKER_IMAGE="vsiri/blueprint_test:test_open3d"
+
+  function load_open3d()
+  {
+    local script="if True:
+        import open3d
+        print(open3d.__version__)
+        mesh = open3d.geometry.TriangleMesh.create_sphere()
+        mesh.compute_vertex_normals()
+        print(mesh)
+    "
+    local opts=(
+        --rm
+        # --env LD_LIBRARY_PATH='/usr/local/cuda-12.9/compat'
+        --entrypoint ""
+        "${DOCKER_IMAGE}"
+        /venv/bin/python -c "${script}"
+    )
+    local result="$("${DOCKER}" run "${opts[@]}")"
+    echo "${result}"
+  }
+
+  RESULT="$(load_open3d)"
+  EXPECTED="$(echo -e "0.19.0\nTriangleMesh with 762 points and 1520 triangles.")"
+  assert_str_eq "${RESULT}" "${EXPECTED}"
+)
+end_test