macos.yml

name: MacOS
permissions: {}

on:
  workflow_dispatch:
    inputs:
      developer_build:
        description: 'Set to OFF for Release builds.'
        required: false
        default: 'ON'

  push:
    branches:
      - main
  pull_request:
    types: [opened, reopened, synchronize]  # Rebuild on new pushes to PR

concurrency:
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
  cancel-in-progress: true

env:
  # https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners#supported-runners-and-hardware-resources
  NPROC: 4
  DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }}
  BUILD_CUDA_MODULE: OFF

jobs:
  MacOS:
    permissions:
      contents: write  # upload
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os: [macos-14]
        CONFIG: [ON, OFF]
    env:
      BUILD_SHARED_LIBS: ${{ matrix.CONFIG }}
      BUILD_TENSORFLOW_OPS: 'ON'
      BUILD_PYTORCH_OPS: 'ON'
    steps:
      - name: Checkout source code
        uses: actions/checkout@v4
      - name: Setup cache
        uses: actions/cache@v4
        with:
          # Ref: https://github.com/apache/incubator-mxnet/pull/18459/files
          path: ~/.ccache
          # We include the commit sha in the cache key, as new cache entries are
          # only created if there is no existing entry for the key yet.
          key: ${{ runner.os }}-${{ runner.arch }}-ccache-${{ github.sha }}
          # Restore any ccache cache entry, if none for
          # ${{ runner.os }}-${{ runner.arch }}-ccache-${{ github.sha }} exists.
          # Common prefix will be used so that ccache can be used across commits.
          restore-keys: |
            ${{ runner.os }}-${{ runner.arch }}-ccache

      - name: Set up Python version
        uses: actions/setup-python@v5
        with:
          python-version: '3.12'

      - name: Install dependencies
        run: |
          brew install ccache pkg-config libusb

          if [[ ${{ runner.arch }} == "ARM64"  ]]; then
            # Fix gfortran not found issue
            brew install gcc
            ln -s $(brew --prefix gcc)/bin/gfortran-* /usr/local/bin/gfortran
          fi

          ccache -M 2G  # See .github/workflows/readme.md for ccache strategy.
      - name: Config and build
        run: |
          PATH=/usr/local/var/homebrew/linked/ccache/libexec:$PATH
          ccache -s
          ./util/run_ci.sh
          DEVEL_PKG_NAME="$(basename build/package/open3d-devel-*.tar.xz)"
          echo "DEVEL_PKG_NAME=$DEVEL_PKG_NAME" >> $GITHUB_ENV
      - name: Build Open3D viewer app
        if: ${{ env.BUILD_SHARED_LIBS == 'OFF' }}
        run: |
          OPEN3D_VERSION_FULL="$(grep -F OPEN3D_VERSION_FULL build/CMakeCache.txt | cut -f2 -d'=')"
          PATH=/usr/local/var/homebrew/linked/ccache/libexec:$PATH
          pushd build
          make -j${NPROC} Open3DViewer
          pushd bin
          zip -rv "open3d-${OPEN3D_VERSION_FULL}-app-macosx-10_15-${{ runner.arch }}.zip" Open3D.app
          ccache -s

      - name: Upload package
        if: ${{ env.BUILD_SHARED_LIBS == 'ON' }}
        uses: actions/upload-artifact@v4
        with:
          name: ${{ env.DEVEL_PKG_NAME }}
          path: build/package/${{ env.DEVEL_PKG_NAME }}
          if-no-files-found: error

      - name: Upload Open3D viewer app
        uses: actions/upload-artifact@v4
        if: ${{ env.BUILD_SHARED_LIBS == 'OFF' }}
        with:
          name: open3d-app-macosx-10_15-${{ runner.arch}}
          path: build/bin/open3d-*-app-macosx-10_15-${{ runner.arch }}.zip
          if-no-files-found: error

      - name: Update devel release
        if: ${{ github.ref == 'refs/heads/main' }}
        env:
          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
        run: |
          if [[ "${{ env.BUILD_SHARED_LIBS }}" == 'ON' ]]; then
            .github/workflows/update_release.sh build/package/${{ env.DEVEL_PKG_NAME }}
          else
            .github/workflows/update_release.sh build/bin/open3d-*-app-macosx-10_15-${{ runner.arch }}.zip
          fi

  build-wheel:
    name: Build wheel
    permissions:
      contents: write  # upload
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      # https://github.community/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6
      matrix:
        os: [macos-14]
        python_version: ['3.10', '3.11', '3.12', '3.13', '3.14']
        is_main:
          - ${{ github.ref == 'refs/heads/main' }}
        exclude:
          - is_main: false
            python_version: '3.10'
          - is_main: false
            python_version: '3.11'
          - is_main: false
            python_version: '3.12'
          - is_main: false
            python_version: '3.13'

    env:
      # TensorFlow v2.20 only supports macOS-14 (Apple Silicon) and python 3.9-3.13
      BUILD_TENSORFLOW_OPS: ${{ matrix.python_version >= '3.14' && 'OFF' || 'ON' }}
      # PyTorch 2.10 only supports macOS-14 (Apple Silicon) and python 3.10-3.14
      BUILD_PYTORCH_OPS: 'ON'
      OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
    steps:
      - name: Checkout source code
        uses: actions/checkout@v4

      - name: Checkout Open3D-ML source code
        uses: actions/checkout@v4
        with:
          repository: isl-org/Open3D-ML
          ref: main
          path: ${{ env.OPEN3D_ML_ROOT }}

      - name: Setup cache
        uses: actions/cache@v4
        with:
          # Ref: https://github.com/apache/incubator-mxnet/pull/18459/files
          path: ~/.ccache
          # We include the commit sha in the cache key, as new cache entries are
          # only created if there is no existing entry for the key yet.
          key: ${{ runner.os }}-${{ runner.arch }}-ccache-${{ github.sha }}
          # Restore any ccache cache entry, if none for
          # ${{ runner.os }}-${{ runner.arch }}-ccache-${{ github.sha }} exists.
          # Common prefix will be used so that ccache can be used across commits.
          restore-keys: |
            ${{ runner.os }}-${{ runner.arch }}-ccache

      - name: Set up Python
        uses: actions/setup-python@v5
        with:
          python-version: ${{ matrix.python_version }}

      - name: Install dependencies
        run: |
          echo "Using python: $(which python)"
          python --version
          echo -n "Using pip: $(which pip)"
          python -m pip --version
          echo "Using cmake: $(which cmake)"
          cmake --version
          source util/ci_utils.sh
          install_python_dependencies

          # Fix macos-14 arm64 runner image issues, see comments in MacOS job.
          if [[ ${{ runner.arch}} == "ARM64"  ]]; then
            ln -s $(which gfortran-13) /usr/local/bin/gfortran
          fi

          brew install ccache
          ccache -M 2G  # See .github/workflows/readme.md for ccache strategy.

      - name: Config and build wheel
        run: |
          PATH=/usr/local/var/homebrew/linked/ccache/libexec:$PATH
          ccache -s
          source util/ci_utils.sh
          build_pip_package
          ccache -s
          PIP_PKG_NAME="$(basename build/lib/python_package/pip_package/open3d*.whl)"
          echo "PIP_PKG_NAME=$PIP_PKG_NAME" >> $GITHUB_ENV

      - name: Upload wheel
        uses: actions/upload-artifact@v4
        with:
          name: ${{ env.PIP_PKG_NAME }}
          path: build/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }}
          if-no-files-found: error

      - name: Update devel release
        if: ${{ github.ref == 'refs/heads/main' }}
        env:
          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
        run: |
          .github/workflows/update_release.sh build/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }}
      

  test-wheel:
    name: Test wheel
    permissions:
      contents: read
    runs-on: ${{ matrix.os }}
    needs: [build-wheel]
    strategy:
      fail-fast: false
      matrix:
        os: [macos-14]
        python_version: ['3.10', '3.11', '3.12', '3.13', '3.14']
        is_main:
          - ${{ github.ref == 'refs/heads/main' }}
        exclude:
          - is_main: false
            python_version: '3.10'
          - is_main: false
            python_version: '3.11'
          - is_main: false
            python_version: '3.12'
          - is_main: false
            python_version: '3.13'

    env:
      # TensorFlow v2.20 only supports macOS-14 (Apple Silicon) and python 3.9-3.13
      BUILD_TENSORFLOW_OPS: ${{ matrix.python_version >= '3.14' && 'OFF' || 'ON' }}
      # PyTorch 2.10 only supports macOS-14 (Apple Silicon) and python 3.10-3.14
      BUILD_PYTORCH_OPS: 'ON'
      OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
    steps:
      - name: Checkout source code
        uses: actions/checkout@v4

      - name: Checkout Open3D-ML source code
        uses: actions/checkout@v4
        with:
          repository: isl-org/Open3D-ML
          ref: main
          path: ${{ env.OPEN3D_ML_ROOT }}

      - name: Download wheels
        uses: actions/download-artifact@v4
        with:
          pattern: open3d-*macosx*.whl
          merge-multiple: true

      - name: Set up Python
        uses: actions/setup-python@v5
        with:
          python-version: ${{ matrix.python_version }}

      - name: Test Python package
        run: |
          python -V
          source util/ci_utils.sh
          pi_tag=$(python -c "import sys; print(f'cp{sys.version_info.major}{sys.version_info.minor}')")
          test_wheel open3d*-"$pi_tag"-*_$(uname -m).whl

      - name: Run Python unit tests
        run: |
          source util/ci_utils.sh
          echo "Running Open3D python tests..."
          run_python_tests