Remove arm64 conditionals in macOS CI, since no other platforms are supported now.

Install glslang in all 3 platforms.
fix incomplete type error.

Co-authored-by: Copilot <copilot@github.com>

Author: ssheorey

.github/workflows/macos.yml

@@ -63,13 +63,10 @@ jobs:
 
       - 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
+          brew install ccache pkg-config libusb glslang spirv-cross
+          # Fix gfortran not found issue
+          brew install gcc
+          ln -s $(brew --prefix gcc)/bin/gfortran-* /usr/local/bin/gfortran
 
           ccache -M 2G  # See .github/workflows/readme.md for ccache strategy.
       - name: Config and build
@@ -188,11 +185,9 @@ jobs:
           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
+          ln -s $(which gfortran-13) /usr/local/bin/gfortran
 
-          brew install ccache
+          brew install ccache glslang spirv-cross 
           ccache -M 2G  # See .github/workflows/readme.md for ccache strategy.
 
       - name: Config and build wheel

.github/workflows/windows.yml

@@ -92,6 +92,13 @@ jobs:
           echo "CUDA_PATH_V$CUDA_VER_ID=$CUDA_PATH" | Out-File -FilePath $Env:GITHUB_ENV -Encoding utf8 -Append
           echo "$CUDA_PATH\bin" | Out-File -FilePath $Env:GITHUB_PATH -Encoding utf8 -Append
 
+      - name: Install glslang via vcpkg
+        run: |
+          vcpkg install glslang[tools]:x64-windows
+          # Write install path to GITHUB_PATH to persist for future steps
+          $glslangBinPath = Join-Path $env:VCPKG_INSTALLATION_ROOT "installed\x64-windows\tools\glslang"
+          $glslangBinPath | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
+  
       - name: Checkout source code
         uses: actions/checkout@v4
 
@@ -276,6 +283,14 @@ jobs:
       BUILD_PYTORCH_OPS: 'ON'
 
     steps:
+
+      - name: Install glslang via vcpkg
+        run: |
+          vcpkg install glslang[tools]:x64-windows
+          # Write install path to GITHUB_PATH to persist for future steps
+          $glslangBinPath = Join-Path $env:VCPKG_INSTALLATION_ROOT "installed\x64-windows\tools\glslang"
+          $glslangBinPath | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
+
       - name: Checkout source code
         uses: actions/checkout@v4
 

cpp/open3d/visualization/gui/GLFWWindowSystem.cpp

@@ -553,7 +553,7 @@ void GLFWWindowSystem::ResizeRenderer(OSWindow w,
     // moving the window between Retina and non-Retina displays (or the initial
     // window-show resize) leaves the layer at the wrong size, causing the
     // rendered content to appear only in the lower-left quarter on Retina.
-    ResizeNativeWindow((GLFWwindow*)w);
+    ResizeNativeWindow(static_cast<GLFWwindow*>(w));
     // We need to recreate the swap chain after resizing a window on macOS
     // otherwise things look very wrong. SwapChain does not need to be resized
     // on other platforms.
@@ -570,7 +570,7 @@ MenuBase* GLFWWindowSystem::CreateOSMenu() {
 }
 
 void GLFWWindowSystem::SetClipboardText(OSWindow w, const char* text) {
-    glfwSetClipboardString((GLFWwindow*)w, text);
+    glfwSetClipboardString(static_cast<GLFWwindow*>(w), text);
 }
 
 }  // namespace gui

cpp/open3d/visualization/gui/Label.cpp

@@ -121,7 +121,7 @@ Widget::DrawResult Label::Draw(const DrawContext& context) {
     if (!is_default_color) {
         ImGui::PushStyleColor(ImGuiCol_Text, colorToImgui(impl_->color_));
     }
-    ImGui::PushFont((ImFont*)context.fonts.GetFont(impl_->font_id_));
+    ImGui::PushFont(static_cast<ImFont*>(context.fonts.GetFont(impl_->font_id_)));
 
     auto padding = ImGui::GetStyle().FramePadding;
     float wrapX = ImGui::GetCursorPos().x + frame.width - padding.x;
@@ -142,7 +142,7 @@ Widget::DrawResult Label::Draw(const DrawContext& context) {
 void Label::DrawOverlay(const DrawContext& context) const {
     const auto& frame = GetFrame();
     ImDrawList* draw_list = ImGui::GetForegroundDrawList();
-    ImFont* font = (ImFont*)context.fonts.GetFont(impl_->font_id_);
+    ImFont* font = static_cast<ImFont*>(context.fonts.GetFont(impl_->font_id_));
     const float font_size = font->FontSize;
     const bool is_default_color = (impl_->color_ == DEFAULT_COLOR);
     const ImU32 text_col = is_default_color ? ImGui::GetColorU32(ImGuiCol_Text)

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

@@ -41,6 +41,7 @@
 #include "open3d/visualization/rendering/RendererHandle.h"
 #include "open3d/visualization/rendering/Scene.h"
 #include "open3d/visualization/rendering/filament/FilamentResourceManager.h"
+#include "open3d/visualization/rendering/gaussian_splat/GaussianSplatDataPacking.h"
 
 /// @cond
 namespace filament {
@@ -63,7 +64,6 @@ class FilamentView;
 class GeometryBuffersBuilder;
 class Renderer;
 class View;
-struct GaussianSplatPackedAttrs;
 
 // Contains renderable objects like geometry and lights
 // Can have multiple views

cpp/open3d/visualization/rendering/gaussian_splat/GaussianSplatVulkanBackend.cpp

@@ -92,16 +92,14 @@ class GaussianSplatVulkanBackend final : public GaussianSplatRenderer::Backend {
         }
 
         auto& vk_ctx = GaussianSplatVulkanInteropContext::GetInstance();
-        bool use_vk = vk_ctx.IsValid() && vk_ctx.AreGLExtensionsReady();
 
-        if (use_vk) {
+        if (vk_ctx.IsValid() && vk_ctx.AreGLExtensionsReady()) {
             SharedImageDesc color_img =
                     vk_ctx.CreateSharedColorImage(width, height, "gs.color");
             if (!color_img.IsValid()) {
                 utility::LogWarning(
                         "GaussianSplatVulkan: shared color image failed; "
                         "falling back to GL textures");
-                use_vk = false;
             } else {
                 SharedImageDesc depth_img = vk_ctx.CreateSharedDepthImage(
                         width, height, "gs.scene_depth");
@@ -110,7 +108,6 @@ class GaussianSplatVulkanBackend final : public GaussianSplatRenderer::Backend {
                     utility::LogWarning(
                             "GaussianSplatVulkan: shared depth image failed; "
                             "falling back to GL textures");
-                    use_vk = false;
                 } else {
                     targets.color_gl_handle = color_img.gl_texture;
                     targets.color_vk_image = reinterpret_cast<std::uintptr_t>(

examples/cpp/TICPSequential.cpp

@@ -358,36 +358,26 @@ class ExampleWindow : public ReconstructionWindow {
                 } else if (name == "visualization") {
                     visualize = value;
                 } else if (name == "start_index") {
-                    std::istringstream is(value);
                     start_index_ = std::stoi(value);
                 } else if (name == "end_index") {
-                    std::istringstream is(value);
                     end_index_ = std::stoi(value);
                 } else if (name == "registration_method") {
                     registration_method_ = value;
                 } else if (name == "criteria.relative_fitness") {
-                    std::istringstream is(value);
                     relative_fitness.push_back(std::stod(value));
                 } else if (name == "criteria.relative_rmse") {
-                    std::istringstream is(value);
                     relative_rmse.push_back(std::stod(value));
                 } else if (name == "criteria.max_iterations") {
-                    std::istringstream is(value);
                     max_iterations.push_back(std::stoi(value));
                 } else if (name == "voxel_size") {
-                    std::istringstream is(value);
                     voxel_sizes_.push_back(std::stod(value));
                 } else if (name == "search_radii") {
-                    std::istringstream is(value);
                     search_radius_.push_back(std::stod(value));
                 } else if (name == "verbosity") {
-                    std::istringstream is(value);
                     verb = value;
                 } else if (name == "visualization_min") {
-                    std::istringstream is(value);
                     min_visualization_scalar_ = std::stod(value);
                 } else if (name == "visualization_max") {
-                    std::istringstream is(value);
                     max_visualization_scalar_ = std::stod(value);
                 }
             }

examples/python/visualization/draw_from_csv.py

@@ -1,7 +1,7 @@
 # ----------------------------------------------------------------------------
 # -                        Open3D: www.open3d.org                            -
 # ----------------------------------------------------------------------------
-# Copyright (c) 2018-2026 www.open3d.org
+# Copyright (c) 2018-2024 www.open3d.org
 # SPDX-License-Identifier: MIT
 # ----------------------------------------------------------------------------
 """

util/install_deps_ubuntu.sh

@@ -27,6 +27,8 @@ deps=(
     libc++abi-dev
     libsdl2-dev
     libxi-dev
+    # Compute shaders
+    glslang-tools
     # ML
     libtbb-dev
     # Headless rendering