update to 0.14

Sources/Open3DSupport/site-packages/open3d/__init__.py

@@ -3,7 +3,7 @@
 # ----------------------------------------------------------------------------
 # The MIT License (MIT)
 #
-# Copyright (c) 2018 www.open3d.org
+# Copyright (c) 2018-2021 www.open3d.org
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal
@@ -38,6 +38,7 @@
 from ctypes import CDLL as _CDLL
 from ctypes.util import find_library as _find_library
 from pathlib import Path as _Path
+import warnings
 
 from open3d._build_config import _build_config
 if _build_config["BUILD_GUI"] and not (_find_library('c++abi') or
@@ -55,7 +56,10 @@
     try:  # StopIteration if cpu version not available
         _CDLL(str(next((_Path(__file__).parent / 'cpu').glob('pybind*'))))
     except StopIteration:
-        pass
+        warnings.warn(
+            "Open3D was built with CUDA support, but Open3D CPU Python "
+            "bindings were not found. Open3D will not work on systems without"
+            " CUDA devices.", ImportWarning)
     try:
         # Check CUDA availability without importing CUDA pybind symbols to
         # prevent "symbol already registered" errors if first import fails.
@@ -66,19 +70,30 @@
                                             utility, t)
             from open3d.cuda import pybind
             __DEVICE_API__ = 'cuda'
-    except OSError:  # CUDA not installed
-        pass
-    except StopIteration:  # pybind cuda library not available
-        pass
+        else:
+            warnings.warn(
+                "Open3D was built with CUDA support, but no suitable CUDA "
+                "devices found. If your system has CUDA devices, check your "
+                "CUDA drivers and runtime.", ImportWarning)
+    except OSError:
+        warnings.warn(
+            "Open3D was built with CUDA support, but CUDA libraries could "
+            "not be found! Check your CUDA installation. Falling back to the "
+            "CPU pybind library.", ImportWarning)
+    except StopIteration:
+        warnings.warn(
+            "Open3D was built with CUDA support, but Open3D CUDA Python "
+            "binding library not found! Falling back to the CPU Python "
+            "binding library.", ImportWarning)
 
 if __DEVICE_API__ == 'cpu':
-    from open3d.cpu.pybind import (camera, geometry, io, pipelines, utility)
+    from open3d.cpu.pybind import (camera, geometry, io, pipelines, utility, t)
     from open3d.cpu import pybind
 
 import open3d.core
-#import open3d.visualization
+import open3d.visualization
 
-__version__ = "0.13.0+1dcd2d62a"
+__version__ = "0.14.1+69d3cc5"
 
 if int(sys.version_info[0]) < 3:
     raise Exception("Open3D only supports Python 3.")
@@ -100,8 +115,8 @@
         except NameError:
             pass
     else:
-        print("Open3D WebVisualizer is not supported on ARM for now.")
-        pass
+        warnings.warn("Open3D WebVisualizer is not supported on ARM for now.",
+                      RuntimeWarning)
 
 # OPEN3D_ML_ROOT points to the root of the Open3D-ML repo.
 # If set this will override the integrated Open3D-ML.

Sources/Open3DSupport/site-packages/open3d/_build_config.py

@@ -6,7 +6,6 @@
     "BUILD_LIBREALSENSE" : False,
     "BUILD_SHARED_LIBS" : False,
     "BUILD_GUI" : False,
-    "BUILD_RPC_INTERFACE": False,
     "ENABLE_HEADLESS_RENDERING" : False,
     "BUILD_JUPYTER_EXTENSION" : False,
     "BUNDLE_OPEN3D_ML" : False,

Sources/Open3DSupport/site-packages/open3d/core.py

@@ -3,7 +3,7 @@
 # ----------------------------------------------------------------------------
 # The MIT License (MIT)
 #
-# Copyright (c) 2018 www.open3d.org
+# Copyright (c) 2018-2021 www.open3d.org
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal
@@ -27,14 +27,6 @@
 import open3d as o3d
 
 if o3d.__DEVICE_API__ == 'cuda':
-    from open3d.cuda.pybind.core import (Tensor, Scalar, Hashmap, Dtype,
-                                         DtypeCode, Device, cuda, nns,
-                                         SizeVector, DynamicSizeVector, matmul,
-                                         lstsq, solve, det, lu, lu_ipiv, inv,
-                                         svd, triu, tril, triul)
+    from open3d.cuda.pybind.core import *
 else:
-    from open3d.cpu.pybind.core import (Tensor, Scalar, Hashmap, Dtype,
-                                        DtypeCode, Device, cuda, nns,
-                                        SizeVector, DynamicSizeVector, matmul,
-                                        lstsq, solve, det, lu, lu_ipiv, inv,
-                                        svd, triu, tril, triul)
+    from open3d.cpu.pybind.core import *

Sources/Open3DSupport/site-packages/open3d/ml/__init__.py

@@ -3,7 +3,7 @@
 # ----------------------------------------------------------------------------
 # The MIT License (MIT)
 #
-# Copyright (c) 2018 www.open3d.org
+# Copyright (c) 2018-2021 www.open3d.org
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal

Sources/Open3DSupport/site-packages/open3d/ml/configs.py

@@ -3,7 +3,7 @@
 # ----------------------------------------------------------------------------
 # The MIT License (MIT)
 #
-# Copyright (c) 2020 www.open3d.org
+# Copyright (c) 2018-2021 www.open3d.org
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal

Sources/Open3DSupport/site-packages/open3d/ml/contrib/__init__.py

@@ -3,7 +3,7 @@
 # ----------------------------------------------------------------------------
 # The MIT License (MIT)
 #
-# Copyright (c) 2018 www.open3d.org
+# Copyright (c) 2018-2021 www.open3d.org
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal

Sources/Open3DSupport/site-packages/open3d/ml/datasets.py

@@ -3,7 +3,7 @@
 # ----------------------------------------------------------------------------
 # The MIT License (MIT)
 #
-# Copyright (c) 2020 www.open3d.org
+# Copyright (c) 2018-2021 www.open3d.org
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal

Sources/Open3DSupport/site-packages/open3d/ml/tf/__init__.py

@@ -3,7 +3,7 @@
 # ----------------------------------------------------------------------------
 # The MIT License (MIT)
 #
-# Copyright (c) 2020 www.open3d.org
+# Copyright (c) 2018-2021 www.open3d.org
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal
@@ -24,6 +24,7 @@
 # IN THE SOFTWARE.
 # ----------------------------------------------------------------------------
 """TensorFlow specific machine learning functions."""
+
 import os as _os
 from tensorflow import __version__ as _tf_version
 from open3d import _build_config

Sources/Open3DSupport/site-packages/open3d/ml/tf/configs.py

@@ -3,7 +3,7 @@
 # ----------------------------------------------------------------------------
 # The MIT License (MIT)
 #
-# Copyright (c) 2020 www.open3d.org
+# Copyright (c) 2018-2021 www.open3d.org
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal

Sources/Open3DSupport/site-packages/open3d/ml/tf/dataloaders.py

@@ -3,7 +3,7 @@
 # ----------------------------------------------------------------------------
 # The MIT License (MIT)
 #
-# Copyright (c) 2020 www.open3d.org
+# Copyright (c) 2018-2021 www.open3d.org
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal

Sources/Open3DSupport/site-packages/open3d/ml/tf/datasets.py

@@ -3,7 +3,7 @@
 # ----------------------------------------------------------------------------
 # The MIT License (MIT)
 #
-# Copyright (c) 2020 www.open3d.org
+# Copyright (c) 2018-2021 www.open3d.org
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal

Sources/Open3DSupport/site-packages/open3d/ml/tf/layers/__init__.py

@@ -3,7 +3,7 @@
 # ----------------------------------------------------------------------------
 # The MIT License (MIT)
 #
-# Copyright (c) 2020 www.open3d.org
+# Copyright (c) 2018-2021 www.open3d.org
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal

Sources/Open3DSupport/site-packages/open3d/ml/tf/models.py

@@ -3,7 +3,7 @@
 # ----------------------------------------------------------------------------
 # The MIT License (MIT)
 #
-# Copyright (c) 2020 www.open3d.org
+# Copyright (c) 2018-2021 www.open3d.org
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal

Sources/Open3DSupport/site-packages/open3d/ml/tf/modules.py

@@ -3,7 +3,7 @@
 # ----------------------------------------------------------------------------
 # The MIT License (MIT)
 #
-# Copyright (c) 2020 www.open3d.org
+# Copyright (c) 2018-2021 www.open3d.org
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal

Sources/Open3DSupport/site-packages/open3d/ml/tf/ops/__init__.py

@@ -3,7 +3,7 @@
 # ----------------------------------------------------------------------------
 # The MIT License (MIT)
 #
-# Copyright (c) 2020 www.open3d.org
+# Copyright (c) 2018-2021 www.open3d.org
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal

Sources/Open3DSupport/site-packages/open3d/ml/tf/pipelines.py

@@ -3,7 +3,7 @@
 # ----------------------------------------------------------------------------
 # The MIT License (MIT)
 #
-# Copyright (c) 2020 www.open3d.org
+# Copyright (c) 2018-2021 www.open3d.org
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal

Sources/Open3DSupport/site-packages/open3d/ml/tf/python/layers/convolutions.py

@@ -3,7 +3,7 @@
 # ----------------------------------------------------------------------------
 # The MIT License (MIT)
 #
-# Copyright (c) 2020 www.open3d.org
+# Copyright (c) 2018-2021 www.open3d.org
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal
@@ -545,6 +545,13 @@ def call(self,
         if inp_importance is None:
             inp_importance = tf.ones((0,), dtype=tf.float32)
 
+        if isinstance(inp_features, tf.RaggedTensor):
+            if not (isinstance(inp_positions, tf.RaggedTensor) and
+                    isinstance(out_positions, tf.RaggedTensor)):
+                raise Exception(
+                    "All of inp_positions, inp_features and out_positions must be tf.Tensor, or tf.RaggedTensor"
+                )
+
         hash_table_size_factor = 1 / 64
         self.nns = self.fixed_radius_search(
             inp_positions,
@@ -553,6 +560,13 @@ def call(self,
             hash_table_size_factor=hash_table_size_factor,
             hash_table=fixed_radius_search_hash_table)
 
+        out_positions_split = None
+        if isinstance(inp_positions, tf.RaggedTensor):
+            inp_positions = inp_positions.values
+            inp_features = inp_features.values
+            out_positions_split = out_positions.row_splits
+            out_positions = out_positions.values
+
         # for stats and debugging
         num_pairs = tf.shape(self.nns.neighbors_index)[0]
         self._avg_neighbors = num_pairs / tf.shape(out_positions)[0]
@@ -584,6 +598,10 @@ def call(self,
             out_features += self.bias
         out_features = self.activation(out_features)
 
+        if out_positions_split is not None:
+            out_features = tf.RaggedTensor.from_row_splits(
+                values=out_features, row_splits=out_positions_split)
+
         return out_features
 
     def compute_output_shape(self, inp_features_shape):
@@ -745,6 +763,13 @@ def call(self,
 
         empty_vec = tf.ones((0,), dtype=tf.float32)
 
+        if isinstance(inp_features, tf.RaggedTensor):
+            if not (isinstance(inp_positions, tf.RaggedTensor) and
+                    isinstance(out_positions, tf.RaggedTensor)):
+                raise Exception(
+                    "All of inp_positions, inp_features and out_positions must be tf.Tensor, or tf.RaggedTensor"
+                )
+
         hash_table_size_factor = 1 / 64
         self.nns_inp = self.fixed_radius_search(
             out_positions,
@@ -753,6 +778,13 @@ def call(self,
             hash_table_size_factor=hash_table_size_factor,
             hash_table=fixed_radius_search_hash_table)
 
+        out_positions_split = None
+        if isinstance(inp_positions, tf.RaggedTensor):
+            inp_positions = inp_positions.values
+            inp_features = inp_features.values
+            out_positions_split = out_positions.row_splits
+            out_positions = out_positions.values
+
         num_out = tf.shape(out_positions, out_type=tf.int64)[0]
 
         neighbors_index, neighbors_row_splits, _ = ops.invert_neighbors_list(
@@ -793,6 +825,10 @@ def call(self,
             out_features += self.bias
         out_features = self.activation(out_features)
 
+        if out_positions_split is not None:
+            out_features = tf.RaggedTensor.from_row_splits(
+                values=out_features, row_splits=out_positions_split)
+
         return out_features
 
     def compute_output_shape(self, inp_features_shape):

Sources/Open3DSupport/site-packages/open3d/ml/tf/python/layers/neighbor_search.py

@@ -3,7 +3,7 @@
 # ----------------------------------------------------------------------------
 # The MIT License (MIT)
 #
-# Copyright (c) 2020 www.open3d.org
+# Copyright (c) 2018-2021 www.open3d.org
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal
@@ -34,6 +34,8 @@ class FixedRadiusSearch(tf.keras.layers.Layer):
     """Fixed radius search for 3D point clouds.
 
     This layer computes the neighbors for a fixed radius on a point cloud.
+    For batch support, you can either pass 'points' and 'queries' as RaggedTensor,
+    or pass the 'row_splits' information.
 
     Example:
       This example shows a neighbor search that returns the indices to the
@@ -89,10 +91,10 @@ def call(self,
 
         Arguments:
 
-          points: The 3D positions of the input points. *This argument must be
-            given as a positional argument!*
+          points: The 3D positions of the input points. It can be a RaggedTensor.
+          *This argument must be given as a positional argument!*
 
-          queries: The 3D positions of the query points.
+          queries: The 3D positions of the query points. It can be a RaggedTensor.
 
           radius: A scalar with the neighborhood radius
 
@@ -129,6 +131,13 @@ def call(self,
             Note that the distances are squared if metric is L2.
             This is a zero length Tensor if 'return_distances' is False.
         """
+        if isinstance(points, tf.RaggedTensor):
+            points_row_splits = points.row_splits
+            points = points.values
+        if isinstance(queries, tf.RaggedTensor):
+            queries_row_splits = queries.row_splits
+            queries = queries.values
+
         if points_row_splits is None:
             points_row_splits = tf.cast(tf.stack([0, tf.shape(points)[0]]),
                                         dtype=tf.int64)

Sources/Open3DSupport/site-packages/open3d/ml/tf/python/layers/voxel_pooling.py

@@ -3,7 +3,7 @@
 # ----------------------------------------------------------------------------
 # The MIT License (MIT)
 #
-# Copyright (c) 2020 www.open3d.org
+# Copyright (c) 2018-2021 www.open3d.org
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal