Upgrade To Latest Filament

3rdparty/filament/filament_build.cmake

@@ -15,18 +15,19 @@ endif()
 set(filament_LIBRARIES
     filameshio
     filament
-    filamat_lite
-    filamat
     filaflat
     filabridge
     geometry
     backend
     bluegl
+    bluevk
     ibl
     image
+    ktxreader
     meshoptimizer
     smol-v
     utils
+    vkshaders
 )
 
 # Locate byproducts
@@ -52,8 +53,8 @@ endif()
 ExternalProject_Add(
     ext_filament
     PREFIX filament
-    URL https://github.com/isl-org/filament/archive/d1d873d27f43ba0cee1674a555cc0f18daac3008.tar.gz
-    URL_HASH SHA256=00c3f41af0fcfb2df904e1f77934f2678d943ddac5eb889788a5e22590e497bd
+    URL https://github.com/google/filament/archive/refs/tags/v1.49.1.tar.gz
+     URL_HASH SHA256=f092aeb1d24d9d84a3cc2327fc3359a5e2893d16e7ac55aab9a56aaae64e121f
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/filament"
     UPDATE_COMMAND ""
     CMAKE_ARGS
@@ -69,7 +70,7 @@ ExternalProject_Add(
         -DCMAKE_INSTALL_PREFIX=${FILAMENT_ROOT}
         -DUSE_STATIC_CRT=${STATIC_WINDOWS_RUNTIME}
         -DUSE_STATIC_LIBCXX=ON
-        -DFILAMENT_SUPPORTS_VULKAN=OFF
+        -DFILAMENT_SKIP_SDL2=ON
         -DFILAMENT_SKIP_SAMPLES=ON
         -DFILAMENT_OPENGL_HANDLE_ARENA_SIZE_IN_MB=20 # to support many small entities
     BUILD_BYPRODUCTS ${lib_byproducts}

3rdparty/filament/filament_download.cmake

@@ -1,6 +1,6 @@
 include(FetchContent)
 
-set(filament_LIBRARIES filameshio filament filamat_lite filaflat filabridge geometry backend bluegl bluevk ibl image meshoptimizer smol-v utils vkshaders)
+set(filament_LIBRARIES filameshio filament filaflat filabridge geometry backend bluegl bluevk ibl image ktxreader meshoptimizer smol-v utils vkshaders)
 
 if (FILAMENT_PRECOMPILED_ROOT)
     if (EXISTS "${FILAMENT_PRECOMPILED_ROOT}")
@@ -13,43 +13,38 @@ else()
     set(lib_dir lib)
     # Setup download links
     if(WIN32)
-        set(FILAMENT_URL https://github.com/google/filament/releases/download/v1.9.9/filament-v1.9.9-windows.tgz)
-        set(FILAMENT_SHA256 3a937a54a0c6b693c833737878761f8ba8ee02744be3c2f9ec33b1c6399ba31b)
-        # Required for filament v1.9.9
-        # Older versions of filament do not contain vkshaders.
-        # They also have a different directory structure.
-        # Remove vkshaders here so we can use newer versions with FILAMENT_PRECOMPILED_ROOT.
-        list(REMOVE_ITEM filament_LIBRARIES vkshaders)
+        set(FILAMENT_URL https://github.com/google/filament/releases/download/v1.49.1/filament-v1.49.1-windows.tgz)
+        set(FILAMENT_SHA256 afbd43c106f14065c6672923e51a6bfd7ea0d87d404df62b4b6c29c81d078d2d)
         if (STATIC_WINDOWS_RUNTIME)
             string(APPEND lib_dir /x86_64/mt)
         else()
             string(APPEND lib_dir /x86_64/md)
         endif()
     elseif(APPLE)
-        set(FILAMENT_URL https://github.com/google/filament/releases/download/v1.9.19/filament-v1.9.19-mac.tgz)
-        set(FILAMENT_SHA256 2765d0ce60647fc17d1880c4618cf7d6b5343d8be4dad87978c3917d9c723b4e)
-        string(APPEND lib_dir /x86_64)
+        set(FILAMENT_URL https://github.com/google/filament/releases/download/v1.49.1/filament-v1.49.1-mac.tgz)
+        set(FILAMENT_SHA256 e7d02060d264f40b365251bebf6a4f4ed5602182cdae429b28ab419277ebc5e7)
     else()      # Linux: Check glibc version and use open3d filament binary if new (Ubuntu 20.04 and similar)
         execute_process(COMMAND ldd --version OUTPUT_VARIABLE ldd_version)
         string(REGEX MATCH "([0-9]+\.)+[0-9]+" glibc_version ${ldd_version})
-        if(${glibc_version} VERSION_LESS "2.31")
+        if(${glibc_version} VERSION_LESS "2.33")
             set(FILAMENT_URL
-                https://github.com/isl-org/open3d_downloads/releases/download/filament/filament-v1.9.19-linux.tgz)
-            set(FILAMENT_SHA256 f0c0b05a543dd0c82b1cd571957a90f28e72cfeee36d19a527c17ac9de4733d5)
+                https://github.com/isl-org/open3d_downloads/releases/download/filament/filament-v1.49.1-ubuntu20.04.tgz)
+            set(FILAMENT_SHA256 f4ba020f0ca63540e2f86b36d1728a1ea063ddd5eb55b0ba6fc621ee815a60a7)
             message(STATUS "GLIBC version ${glibc_version} found: Using "
-                "Google Filament binary.")
+                "Open3D built Filament binary for Ubuntu 20.04.")
         else()
-            set(FILAMENT_URL
-                https://github.com/isl-org/open3d_downloads/releases/download/filament/filament-v1.9.19-linux-20.04.tgz)
-            set(FILAMENT_SHA256 c756fd76f5c6a40ca554f8c3cca424354a2a22ea6fce3c8ea893d4c4aa39514c)
+            set(FILAMENT_URL 
+                https://github.com/google/filament/releases/download/v1.49.1/filament-v1.49.1-linux.tgz)
+            set(FILAMENT_SHA256 ddd086310d1ee650831e21f6a11f489cb385826fbeea446e7803bec8d6e7442b)
             message(STATUS "GLIBC version ${glibc_version} found: Using "
-                "Open3D Filament binary.")
+                "Google Filament binary.")
         endif()
     endif()
 
     set(lib_byproducts ${filament_LIBRARIES})
     list(TRANSFORM lib_byproducts PREPEND <SOURCE_DIR>/${lib_dir}/${CMAKE_STATIC_LIBRARY_PREFIX})
     list(TRANSFORM lib_byproducts APPEND ${CMAKE_STATIC_LIBRARY_SUFFIX})
+    message(STATUS "Filament byproducts: ${lib_byproducts}")
 
     if(WIN32)
         set(lib_byproducts_debug ${filament_LIBRARIES})
@@ -73,6 +68,7 @@ else()
         BUILD_BYPRODUCTS ${lib_byproducts}
     )
     ExternalProject_Get_Property(ext_filament SOURCE_DIR)
+    message(STATUS "Filament source dir is ${SOURCE_DIR}")
     set(FILAMENT_ROOT ${SOURCE_DIR})
 endif()
 

3rdparty/find_dependencies.cmake

@@ -1299,6 +1299,7 @@ if(BUILD_GUI)
                 endif()
             endif()
         endif()
+        set(FILAMENT_RUNTIME_VER x86_64)
         if (APPLE)
             if (APPLE_AARCH64)
                 set(FILAMENT_RUNTIME_VER arm64)

CMakeLists.txt

@@ -288,14 +288,9 @@ if(BUILD_SYCL_MODULE AND BUILD_CUDA_MODULE)
     message(FATAL_ERROR "BUILD_SYCL_MODULE and BUILD_SYCL_MODULE cannot be on at the same time for now.")
 endif()
 
-# Global flag to set CXX standard.
-# This does not affect 3rd party libraries.
-# Tensorflow 2.9+ requires cxx_17, but MSVC 19.29 throws errors with C++17
-# enabled.
-if (BUILD_SYCL_MODULE OR BUILD_TENSORFLOW_OPS)
-    set(CMAKE_CXX_STANDARD 17)
-else()
-    set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
+if (MSVC)
+    set(CMAKE_CXX_STANDARD 20)
 endif()
 set(CMAKE_CXX_EXTENSIONS OFF)   # Improved compatibility
 
@@ -461,6 +456,10 @@ if(WIN32)
         #
         # See: https://github.com/tensorflow/tensorflow/pull/10962
         add_compile_options("$<$<COMPILE_LANGUAGE:CXX>:/bigobj;/Ob2>")
+
+        # Suppress deprecation warnings that become errors for features depcrecated in
+        # C++20 that we still use.
+        add_compile_options("$<$<COMPILE_LANGUAGE:CXX>:/D_SILENCE_CXX20_IS_POD_DEPRECATION_WARNING>")
     endif()
     if (STATIC_WINDOWS_RUNTIME)
         set(CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>")

cmake/Open3DAddCompiledMaterials.cmake

@@ -35,7 +35,7 @@ function(open3d_add_compiled_materials target)
     if (IOS OR ANDROID)
         set(FILAMENT_MATC_ARGS "--platform=mobile")
     else()
-        set(FILAMENT_MATC_ARGS "--platform=desktop")
+        set(FILAMENT_MATC_ARGS "--api=all")
     endif()
 
     get_filename_component(OUTPUT_DIRECTORY_FULL_PATH "${ARG_OUTPUT_DIRECTORY}" ABSOLUTE)

cpp/open3d/visualization/gui/Application.cpp

@@ -144,9 +144,9 @@ struct Application::Impl {
         InitWindowSystem();
 
         // Initialize rendering
-        visualization::rendering::EngineInstance::SelectBackend(
-                visualization::rendering::EngineInstance::RenderingType::
-                        kOpenGL);
+        // NOTE: This is where we used to manually select a backend for Filament
+        // but we feel comfortable now allowing Filament to select the best
+        // backend for the platform so there's no code here anymore
     }
 
     void CleanupAfterRunning() {

cpp/open3d/visualization/gui/BitmapWindowSystem.cpp

@@ -129,16 +129,7 @@ struct BitmapWindowSystem::Impl {
 };
 
 BitmapWindowSystem::BitmapWindowSystem(Rendering mode /*= Rendering::NORMAL*/)
-    : impl_(new BitmapWindowSystem::Impl()) {
-    if (mode == Rendering::HEADLESS) {
-#if !defined(__APPLE__) && !defined(_WIN32) && !defined(_WIN64)
-        rendering::EngineInstance::EnableHeadless();
-#else
-        utility::LogWarning(
-                "BitmapWindowSystem(): HEADLESS is only supported on Linux.");
-#endif
-    }
-}
+    : impl_(new BitmapWindowSystem::Impl()) {}
 
 BitmapWindowSystem::~BitmapWindowSystem() {}
 

cpp/open3d/visualization/gui/BitmapWindowSystem.h

@@ -27,6 +27,7 @@ struct TextInputEvent;
 
 class BitmapWindowSystem : public WindowSystem {
 public:
+    // Not needed anymore - may be removed
     enum class Rendering {
         NORMAL,   // normal OpenGL rendering, requires X11, Win32, or Cocoa
         HEADLESS  // uses EGL, does not require the OS to have a window system.

cpp/open3d/visualization/gui/GLFWWindowSystem.cpp

@@ -156,16 +156,18 @@ GLFWWindowSystem::OSWindow GLFWWindowSystem::CreateOSWindow(Window* o3d_window,
                                                             int height,
                                                             const char* title,
                                                             int flags) {
-    glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
-    glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 2);
-    glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
-    glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
-    // NOTE: Setting alpha and stencil bits to match GLX standard default
-    // values. GLFW sets these internally to 8 and 8 respectively if not
-    // specified which causes problems with Filament on Linux with Nvidia binary
-    // driver
-    glfwWindowHint(GLFW_ALPHA_BITS, 0);
-    glfwWindowHint(GLFW_STENCIL_BITS, 0);
+    glfwWindowHint(GLFW_CLIENT_API, GLFW_NO_API);
+    // glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
+    // glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 2);
+    // glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
+    // glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
+    // // NOTE: Setting alpha and stencil bits to match GLX standard default
+    // // values. GLFW sets these internally to 8 and 8 respectively if not
+    // // specified which causes problems with Filament on Linux with Nvidia
+    // binary
+    // // driver
+    // glfwWindowHint(GLFW_ALPHA_BITS, 0);
+    // glfwWindowHint(GLFW_STENCIL_BITS, 0);
 
 #if __APPLE__
     glfwWindowHint(GLFW_COCOA_RETINA_FRAMEBUFFER, GLFW_TRUE);

cpp/open3d/visualization/gui/ImguiFilamentBridge.cpp

@@ -22,6 +22,11 @@
  * limitations under the License.
  */
 
+// clang-format off
+// NOTE: this must precede header files that bring in Filament headers
+#include <cstring>
+// clang-format on
+
 #include "open3d/visualization/gui/ImguiFilamentBridge.h"
 
 // 4068: Filament has some clang-specific vectorizing pragma's that MSVC flags
@@ -38,18 +43,18 @@
 #include <filament/TransformManager.h>
 #include <utils/EntityManager.h>
 
+#include <cerrno>
+#include <iostream>
+#include <map>
+#include <vector>
+
 #ifdef _MSC_VER
 #pragma warning(pop)
 #endif  // _MSC_VER
 
 #include <fcntl.h>
 #include <imgui.h>
 
-#include <cerrno>
-#include <iostream>
-#include <map>
-#include <vector>
-
 #include "open3d/utility/FileSystem.h"
 #include "open3d/visualization/gui/Application.h"
 #include "open3d/visualization/gui/Color.h"

cpp/open3d/visualization/gui/Materials/img_blit.mat

@@ -20,7 +20,6 @@ fragment {
     void material(inout MaterialInputs material) {
         prepareMaterial(material);
         vec2 uv = getUV0();
-        uv.y = 1.0 - uv.y;
         /* OpenGL spec 8.4.4.4 says that texture().a is 1.0 if there
            is no alpha channel, so this shader can handle both RGB and RGBA
            images */

cpp/open3d/visualization/gui/SceneWidget.cpp

@@ -10,6 +10,7 @@
 #include <imgui.h>
 
 #include <Eigen/Geometry>
+#include <cstring>
 #include <set>
 #include <unordered_set>
 

cpp/open3d/visualization/rendering/filament/FilamentCamera.cpp

@@ -40,15 +40,17 @@ Camera::Transform FilamentToCameraTransform(const filament::math::mat4& ft) {
     return Camera::Transform(m);
 }
 
-Camera::Transform FilamentToCameraTransform(const filament::math::mat4f& ft) {
-    Camera::Transform::MatrixType m;
-
-    m << ft(0, 0), ft(0, 1), ft(0, 2), ft(0, 3), ft(1, 0), ft(1, 1), ft(1, 2),
-            ft(1, 3), ft(2, 0), ft(2, 1), ft(2, 2), ft(2, 3), ft(3, 0),
-            ft(3, 1), ft(3, 2), ft(3, 3);
-
-    return Camera::Transform(m);
-}
+// Camera::Transform FilamentToCameraTransform(const filament::math::mat4f& ft)
+// {
+//     Camera::Transform::MatrixType m;
+//
+//     m << ft(0, 0), ft(0, 1), ft(0, 2), ft(0, 3), ft(1, 0), ft(1, 1), ft(1,
+//     2),
+//             ft(1, 3), ft(2, 0), ft(2, 1), ft(2, 2), ft(2, 3), ft(3, 0),
+//             ft(3, 1), ft(3, 2), ft(3, 3);
+//
+//     return Camera::Transform(m);
+// }
 
 filament::math::mat4f CameraToFilamentTransformF(const Camera::Transform& t) {
     auto e_matrix = t.matrix();
@@ -240,7 +242,8 @@ void FilamentCamera::LookAt(const Eigen::Vector3f& center,
 
 Eigen::Vector3f FilamentCamera::GetPosition() const {
     auto cam_pos = camera_->getPosition();
-    return {cam_pos.x, cam_pos.y, cam_pos.z};
+    return {static_cast<float>(cam_pos.x), static_cast<float>(cam_pos.y),
+            static_cast<float>(cam_pos.z)};
 }
 
 Eigen::Vector3f FilamentCamera::GetForwardVector() const {
@@ -314,7 +317,7 @@ void FilamentCamera::SetModelMatrix(const Eigen::Vector3f& forward,
                                     const Eigen::Vector3f& up) {
     using namespace filament;
 
-    math::mat4f ftransform = camera_->getModelMatrix();
+    math::mat4 ftransform = camera_->getModelMatrix();
     ftransform[0].xyz = math::float3(left.x(), left.y(), left.z());
     ftransform[1].xyz = math::float3(up.x(), up.y(), up.z());
     ftransform[2].xyz = math::float3(forward.x(), forward.y(), forward.z());

cpp/open3d/visualization/rendering/filament/FilamentEngine.cpp

@@ -33,13 +33,10 @@ static std::shared_ptr<EngineInstance> g_instance = nullptr;
 }  // namespace
 
 EngineInstance::RenderingType EngineInstance::type_ = RenderingType::kDefault;
-bool EngineInstance::is_headless_ = false;
 std::string EngineInstance::resource_path_ = "";
 
 void EngineInstance::SelectBackend(RenderingType type) { type_ = type; }
 
-void EngineInstance::EnableHeadless() { is_headless_ = true; }
-
 void EngineInstance::SetResourcePath(const std::string& resource_path) {
     resource_path_ = resource_path;
     if (!utility::filesystem::DirectoryExists(resource_path_)) {
@@ -74,10 +71,6 @@ EngineInstance& EngineInstance::Get() {
 
 void EngineInstance::DestroyInstance() { g_instance.reset(); }
 
-/// external function defined in custom Filament EGL backend for headless
-/// rendering
-extern "C" filament::backend::Platform* CreateEGLHeadlessPlatform();
-
 EngineInstance::EngineInstance() {
     filament::backend::Backend backend = filament::backend::Backend::DEFAULT;
     switch (type_) {
@@ -95,17 +88,7 @@ EngineInstance::EngineInstance() {
             break;
     }
 
-    filament::backend::Platform* custom_platform = nullptr;
-    if (is_headless_) {
-#ifdef __linux__
-        utility::LogInfo("EGL headless mode enabled.");
-        custom_platform = CreateEGLHeadlessPlatform();
-#else
-        utility::LogError("EGL Headless is not supported on this platform.");
-#endif
-    }
-
-    engine_ = filament::Engine::create(backend, custom_platform);
+    engine_ = filament::Engine::create(backend);
     resource_manager_ = new FilamentResourceManager(*engine_);
 }
 

cpp/open3d/visualization/rendering/filament/FilamentEngine.h

@@ -28,10 +28,6 @@ class EngineInstance {
     // If not called, platform available default backend will be used.
     static void SelectBackend(RenderingType type);
 
-    /// Initialize Engine for headless rendering. Must be called before first
-    /// access to the Engine (GetInstance).
-    static void EnableHeadless();
-
     // Specifies path to load shaders and skyboxes from. Must be called before
     // instance usage, or default path will be used.
     static void SetResourcePath(const std::string& resource_path);
@@ -53,7 +49,6 @@ class EngineInstance {
     EngineInstance();
 
     static RenderingType type_;
-    static bool is_headless_;
     static std::string resource_path_;
     filament::Engine* engine_;
     FilamentResourceManager* resource_manager_;