Support python 312

.github/workflows/macos.yml

@@ -127,7 +127,7 @@ jobs:
       fail-fast: false
       # https://github.community/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6
       matrix:
-        python_version: ['3.8', '3.9', '3.10', '3.11']
+        python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
@@ -137,6 +137,8 @@ jobs:
             python_version: '3.9'
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
 
     env:
       BUILD_CUDA_MODULE: OFF
@@ -234,7 +236,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: ['3.8', '3.9', '3.10', '3.11']
+        python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
@@ -244,6 +246,8 @@ jobs:
             python_version: '3.9'
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
 
     env:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML

.github/workflows/ubuntu-wheel.yml

@@ -30,7 +30,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: ['3.8', '3.9', '3.10', '3.11']
+        python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
@@ -40,6 +40,8 @@ jobs:
             python_version: '3.9'
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
     env:
       DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }}
       PYTHON_VERSION: ${{ matrix.python_version }}
@@ -64,6 +66,8 @@ jobs:
             docker/docker_build.sh cuda_wheel_py310_dev
           elif [ "${{ env.PYTHON_VERSION }}" = "3.11" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
             docker/docker_build.sh cuda_wheel_py311_dev
+          elif [ "${{ env.PYTHON_VERSION }}" = "3.12" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
+            docker/docker_build.sh cuda_wheel_py312_dev
           elif [ "${{ env.PYTHON_VERSION }}" = "3.8" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
             docker/docker_build.sh cuda_wheel_py38
           elif [ "${{ env.PYTHON_VERSION }}" = "3.9" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
@@ -72,6 +76,8 @@ jobs:
             docker/docker_build.sh cuda_wheel_py310
           elif [ "${{ env.PYTHON_VERSION }}" = "3.11" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
             docker/docker_build.sh cuda_wheel_py311
+          elif [ "${{ env.PYTHON_VERSION }}" = "3.12" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
+            docker/docker_build.sh cuda_wheel_py312
           fi
           PIP_PKG_NAME="$(basename ${GITHUB_WORKSPACE}/open3d-[0-9]*.whl)"
           PIP_CPU_PKG_NAME="$(basename ${GITHUB_WORKSPACE}/open3d_cpu*.whl)"
@@ -117,7 +123,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: ['3.8', '3.9', '3.10', '3.11']
+        python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
@@ -127,6 +133,8 @@ jobs:
             python_version: '3.9'
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
     env:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
     steps:

.github/workflows/windows.yml

@@ -242,7 +242,7 @@ jobs:
       fail-fast: false
       # https://github.community/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6
       matrix:
-        python_version: ['3.8', '3.9', '3.10', '3.11']
+        python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
@@ -252,6 +252,8 @@ jobs:
             python_version: '3.9'
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
 
     steps:
       - name: Checkout source code
@@ -347,7 +349,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: ['3.8', '3.9', '3.10', '3.11']
+        python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
         exclude:
@@ -357,6 +359,8 @@ jobs:
             python_version: '3.9'
           - is_main: false
             python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
 
     steps:
       - name: Checkout source code

CHANGELOG.md

@@ -32,6 +32,7 @@
 -   Fix regression in printing cuda tensor from PR #6444 🐛
 -   Add Python pathlib support for file IO (PR #6619)
 -   Fix log error message for `probability` argument validation in `PointCloud::SegmentPlane` (PR #6622)
+-   Python 3.12 support
 
 ## 0.13
 

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:11.8.0-cudnn8-devel-ubuntu18.04
 FROM ${BASE_IMAGE}
 
 # Customizable build arguments from cuda.yml

docker/README.md

@@ -26,7 +26,7 @@ to install Nvidia Docker to run the CUDA container.
 To verify that the Nvidia Docker is working, run:
 
 ```bash
-docker run --rm --gpus all nvidia/cuda:11.7-base nvidia-smi
+docker run --rm --gpus all nvidia/cuda:11.8-base nvidia-smi
 ```
 
 ### ARM64 Docker

docker/docker_build.sh

@@ -27,20 +27,24 @@ OPTION:
     openblas-amd64-py39-dev     : OpenBLAS AMD64 3.9 wheel, developer mode
     openblas-amd64-py310-dev    : OpenBLAS AMD64 3.10 wheel, developer mode
     openblas-amd64-py311-dev    : OpenBLAS AMD64 3.11 wheel, developer mode
+    openblas-amd64-py312-dev    : OpenBLAS AMD64 3.12 wheel, developer mode
     openblas-amd64-py38         : OpenBLAS AMD64 3.8 wheel, release mode
     openblas-amd64-py39         : OpenBLAS AMD64 3.9 wheel, release mode
     openblas-amd64-py310        : OpenBLAS AMD64 3.10 wheel, release mode
     openblas-amd64-py311        : OpenBLAS AMD64 3.11 wheel, release mode
+    openblas-amd64-py312        : OpenBLAS AMD64 3.12 wheel, release mode
 
     # OpenBLAS ARM64 (Dockerfile.openblas)
     openblas-arm64-py38-dev     : OpenBLAS ARM64 3.8 wheel, developer mode
     openblas-arm64-py39-dev     : OpenBLAS ARM64 3.9 wheel, developer mode
     openblas-arm64-py310-dev    : OpenBLAS ARM64 3.10 wheel, developer mode
     openblas-arm64-py311-dev    : OpenBLAS ARM64 3.11 wheel, developer mode
+    openblas-arm64-py312-dev    : OpenBLAS ARM64 3.12 wheel, developer mode
     openblas-arm64-py38         : OpenBLAS ARM64 3.8 wheel, release mode
     openblas-arm64-py39         : OpenBLAS ARM64 3.9 wheel, release mode
     openblas-arm64-py310        : OpenBLAS ARM64 3.10 wheel, release mode
     openblas-arm64-py311        : OpenBLAS ARM64 3.11 wheel, release mode
+    openblas-arm64-py312        : OpenBLAS ARM64 3.12 wheel, release mode
 
     # Ubuntu CPU CI (Dockerfile.ci)
     cpu-static                  : Ubuntu CPU static
@@ -66,10 +70,12 @@ OPTION:
     cuda_wheel_py39_dev        : CUDA Python 3.9 wheel, developer mode
     cuda_wheel_py310_dev       : CUDA Python 3.10 wheel, developer mode
     cuda_wheel_py311_dev       : CUDA Python 3.11 wheel, developer mode
+    cuda_wheel_py312_dev       : CUDA Python 3.12 wheel, developer mode
     cuda_wheel_py38            : CUDA Python 3.8 wheel, release mode
     cuda_wheel_py39            : CUDA Python 3.9 wheel, release mode
     cuda_wheel_py310           : CUDA Python 3.10 wheel, release mode
     cuda_wheel_py311           : CUDA Python 3.11 wheel, release mode
+    cuda_wheel_py312           : CUDA Python 3.12 wheel, release mode
 "
 
 HOST_OPEN3D_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")"/.. >/dev/null 2>&1 && pwd)"
@@ -78,7 +84,7 @@ HOST_OPEN3D_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")"/.. >/dev/null 2>&1 && pw
 CCACHE_VERSION=4.3
 CMAKE_VERSION=cmake-3.20.6-linux-x86_64
 CMAKE_VERSION_AARCH64=cmake-3.20.6-linux-aarch64
-CUDA_VERSION=11.7.1-cudnn8
+CUDA_VERSION=11.8.0-cudnn8
 
 print_usage_and_exit_docker_build() {
     echo "$__usage_docker_build"
@@ -127,6 +133,9 @@ openblas_export_env() {
     elif [[ "py311" =~ ^($options)$ ]]; then
         export PYTHON_VERSION=3.11
         export DOCKER_TAG=${DOCKER_TAG}-py311
+    elif [[ "py312" =~ ^($options)$ ]]; then
+        export PYTHON_VERSION=3.12
+        export DOCKER_TAG=${DOCKER_TAG}-py312
     else
         echo "Invalid python version."
         print_usage_and_exit_docker_build
@@ -182,6 +191,8 @@ cuda_wheel_build() {
         PYTHON_VERSION=3.10
     elif [[ "py311" =~ ^($options)$ ]]; then
         PYTHON_VERSION=3.11
+    elif [[ "py312" =~ ^($options)$ ]]; then
+        PYTHON_VERSION=3.12
     else
         echo "Invalid python version."
         print_usage_and_exit_docker_build
@@ -490,6 +501,10 @@ function main() {
         openblas_export_env amd64 py311 dev
         openblas_build
         ;;
+    openblas-amd64-py312-dev)
+        openblas_export_env amd64 py312 dev
+        openblas_build
+        ;;
     openblas-amd64-py38)
         openblas_export_env amd64 py38
         openblas_build
@@ -506,6 +521,10 @@ function main() {
         openblas_export_env amd64 py311
         openblas_build
         ;;
+    openblas-amd64-py312)
+        openblas_export_env amd64 py312
+        openblas_build
+        ;;
 
     # OpenBLAS ARM64
     openblas-arm64-py38-dev)
@@ -524,6 +543,10 @@ function main() {
         openblas_export_env arm64 py311 dev
         openblas_build
         ;;
+    openblas-arm64-py312-dev)
+        openblas_export_env arm64 py312 dev
+        openblas_build
+        ;;
     openblas-arm64-py38)
         openblas_export_env arm64 py38
         openblas_build
@@ -540,6 +563,10 @@ function main() {
         openblas_export_env arm64 py311
         openblas_build
         ;;
+    openblas-arm64-py312)
+        openblas_export_env arm64 py312
+        openblas_build
+        ;;
 
     # CPU CI
     cpu-static)
@@ -586,6 +613,9 @@ function main() {
     cuda_wheel_py311_dev)
         cuda_wheel_build py311 dev
         ;;
+    cuda_wheel_py312_dev)
+        cuda_wheel_build py312 dev
+        ;;
     cuda_wheel_py38)
         cuda_wheel_build py38
         ;;
@@ -598,6 +628,10 @@ function main() {
     cuda_wheel_py311)
         cuda_wheel_build py311
         ;;
+    cuda_wheel_py312)
+        cuda_wheel_build py312
+        ;;
+
 
     # ML CIs
     2-bionic)

docker/docker_test.sh

@@ -20,20 +20,24 @@ OPTION:
     openblas-amd64-py39-dev     : OpenBLAS AMD64 3.9 wheel, developer mode
     openblas-amd64-py310-dev    : OpenBLAS AMD64 3.10 wheel, developer mode
     openblas-amd64-py311-dev    : OpenBLAS AMD64 3.11 wheel, developer mode
+    openblas-amd64-py312-dev    : OpenBLAS AMD64 3.12 wheel, developer mode
     openblas-amd64-py38         : OpenBLAS AMD64 3.8 wheel, release mode
     openblas-amd64-py39         : OpenBLAS AMD64 3.9 wheel, release mode
     openblas-amd64-py310        : OpenBLAS AMD64 3.10 wheel, release mode
     openblas-amd64-py311        : OpenBLAS AMD64 3.11 wheel, release mode
+    openblas-amd64-py312        : OpenBLAS AMD64 3.12 wheel, release mode
 
     # OpenBLAS ARM64 (Dockerfile.openblas)
     openblas-arm64-py38-dev     : OpenBLAS ARM64 3.8 wheel, developer mode
     openblas-arm64-py39-dev     : OpenBLAS ARM64 3.9 wheel, developer mode
     openblas-arm64-py310-dev    : OpenBLAS ARM64 3.10 wheel, developer mode
     openblas-arm64-py311-dev    : OpenBLAS ARM64 3.11 wheel, developer mode
+    openblas-arm64-py312-dev    : OpenBLAS ARM64 3.12 wheel, developer mode
     openblas-arm64-py38         : OpenBLAS ARM64 3.8 wheel, release mode
     openblas-arm64-py39         : OpenBLAS ARM64 3.9 wheel, release mode
     openblas-arm64-py310        : OpenBLAS ARM64 3.10 wheel, release mode
     openblas-arm64-py311        : OpenBLAS ARM64 3.11 wheel, release mode
+    openblas-arm64-py312        : OpenBLAS ARM64 3.12 wheel, release mode
 
     # Ubuntu CPU CI (Dockerfile.ci)
     cpu-static                  : Ubuntu CPU static
@@ -230,6 +234,11 @@ openblas-amd64-py311-dev)
     openblas_print_env
     cpp_python_linking_uninstall_test
     ;;
+openblas-amd64-py312-dev)
+    openblas_export_env amd64 py312 dev
+    openblas_print_env
+    cpp_python_linking_uninstall_test
+    ;;
 openblas-amd64-py38)
     openblas_export_env amd64 py38
     openblas_print_env
@@ -250,6 +259,11 @@ openblas-amd64-py311)
     openblas_print_env
     cpp_python_linking_uninstall_test
     ;;
+openblas-amd64-py312)
+    openblas_export_env amd64 py312
+    openblas_print_env
+    cpp_python_linking_uninstall_test
+    ;;
 
 # OpenBLAS ARM64
 openblas-arm64-py38-dev)
@@ -272,6 +286,11 @@ openblas-arm64-py311-dev)
     openblas_print_env
     cpp_python_linking_uninstall_test
     ;;
+openblas-arm64-py312-dev)
+    openblas_export_env arm64 py312 dev
+    openblas_print_env
+    cpp_python_linking_uninstall_test
+    ;;
 openblas-arm64-py38)
     openblas_export_env arm64 py38
     openblas_print_env
@@ -292,6 +311,11 @@ openblas-arm64-py311)
     openblas_print_env
     cpp_python_linking_uninstall_test
     ;;
+openblas-arm64-py312)
+    openblas_export_env arm64 py312
+    openblas_print_env
+    cpp_python_linking_uninstall_test
+    ;;
 
 # CPU CI
 cpu-static)

docs/arm.rst

@@ -71,6 +71,7 @@ commands:
     ./docker_build.sh openblas-arm64-py39   # Python 3.9
     ./docker_build.sh openblas-arm64-py310  # Python 3.10
     ./docker_build.sh openblas-arm64-py311  # Python 3.11
+    ./docker_build.sh openblas-arm64-py311  # Python 3.12
 
 After running ``docker_build.sh``, you shall see a ``.whl`` file generated the
 current directly on the host. Then simply install the ``.whl`` file by:

docs/getting_started.in.rst

@@ -17,6 +17,7 @@ Supported Python versions:
 * 3.9
 * 3.10
 * 3.11
+* 3.12
 
 Supported operating systems:
 
@@ -74,24 +75,28 @@ version (``HEAD`` of ``main`` branch):
       - `Python 3.9 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp39-cp39-manylinux_2_27_x86_64.whl>`__
       - `Python 3.10 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp310-cp310-manylinux_2_27_x86_64.whl>`__
       - `Python 3.11 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp311-cp311-manylinux_2_27_x86_64.whl>`__
+      - `Python 3.12 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp312-cp312-manylinux_2_27_x86_64.whl>`__
 
     * - Linux (CPU)
       - `Python 3.8 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d_cpu-@OPEN3D_VERSION_FULL@-cp38-cp38-manylinux_2_27_x86_64.whl>`__
       - `Python 3.9 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d_cpu-@OPEN3D_VERSION_FULL@-cp39-cp39-manylinux_2_27_x86_64.whl>`__
       - `Python 3.10 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d_cpu-@OPEN3D_VERSION_FULL@-cp310-cp310-manylinux_2_27_x86_64.whl>`__
       - `Python 3.11 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d_cpu-@OPEN3D_VERSION_FULL@-cp311-cp311-manylinux_2_27_x86_64.whl>`__
+      - `Python 3.12 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d_cpu-@OPEN3D_VERSION_FULL@-cp312-cp312-manylinux_2_27_x86_64.whl>`__
 
     * - MacOS
       - `Python 3.8 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp38-cp38-macosx_11_0_x86_64.whl>`__
       - `Python 3.9 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp39-cp39-macosx_11_0_x86_64.whl>`__
       - `Python 3.10 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp310-cp310-macosx_11_0_x86_64.whl>`__
       - `Python 3.11 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp311-cp311-macosx_10_15_universal2.whl>`__
+      - `Python 3.12 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp312-cp312-macosx_10_15_universal2.whl>`__
 
     * - Windows
       - `Python 3.8 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp38-cp38-win_amd64.whl>`__
       - `Python 3.9 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp39-cp39-win_amd64.whl>`__
       - `Python 3.10 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp310-cp310-win_amd64.whl>`__
       - `Python 3.11 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp311-cp311-win_amd64.whl>`__
+      - `Python 3.12 <https://storage.googleapis.com/open3d-releases/python-wheels/open3d-@OPEN3D_VERSION_FULL@-cp312-cp312-win_amd64.whl>`__
 
 Please use these links from the `latest version of this page
 <https://www.open3d.org/docs/latest/getting_started.html>`__ only. You can also