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# FROM must be called before other ARGS except for ARG BASE_IMAGE
ARG BASE_IMAGE=nvidia/cuda:11.6.2-cudnn8-devel-ubuntu18.04
FROM ${BASE_IMAGE}
# Customizable build arguments from cuda.yml
ARG DEVELOPER_BUILD
ARG CCACHE_TAR_NAME
ARG CMAKE_VERSION
ARG CCACHE_VERSION
ARG PYTHON_VERSION
# Forward all ARG to ENV
# ci_utils.sh requires these environment variables
ENV DEVELOPER_BUILD=${DEVELOPER_BUILD}
ENV CCACHE_TAR_NAME=${CCACHE_TAR_NAME}
ENV CMAKE_VERSION=${CMAKE_VERSION}
ARG CCACHE_VERSION=${CCACHE_VERSION}
ENV PYTHON_VERSION=${PYTHON_VERSION}
# Prevent interactive inputs when installing packages
ENV DEBIAN_FRONTEND=noninteractive
ENV TZ=America/Los_Angeles
ENV SUDO=command
# Miniconda requires bash as the default shell.
SHELL ["/bin/bash", "-c"]
# Fix Nvidia repo key rotation issue
# https://forums.developer.nvidia.com/t/notice-cuda-linux-repository-key-rotation/212771
# https://forums.developer.nvidia.com/t/18-04-cuda-docker-image-is-broken/212892/10
# https://code.visualstudio.com/remote/advancedcontainers/reduce-docker-warnings#:~:text=Warning%3A%20apt%2Dkey%20output%20should,not%20running%20from%20a%20terminal.
RUN export APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=DontWarn \
&& apt-key del 7fa2af80 \
&& apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1604/x86_64/3bf863cc.pub \
&& apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub
# Dependencies: basic
RUN apt-get update && apt-get install -y \
git \
wget \
curl \
&& rm -rf /var/lib/apt/lists/*
# Dependencies: cmake
RUN CMAKE_VERSION_NUMBERS=$(echo "${CMAKE_VERSION}" | cut -d"-" -f2) \
&& wget -q https://github.com/Kitware/CMake/releases/download/v${CMAKE_VERSION_NUMBERS}/${CMAKE_VERSION}.tar.gz \
&& tar -xf ${CMAKE_VERSION}.tar.gz \
&& cp -ar ${CMAKE_VERSION} ${HOME}
ENV PATH=${HOME}/${CMAKE_VERSION}/bin:${PATH}
# Dependencies: ccache
WORKDIR /root
RUN git clone https://github.com/ccache/ccache.git \
&& cd ccache \
&& git checkout v${CCACHE_VERSION} -b ${CCACHE_VERSION} \
&& mkdir build \
&& cd build \
&& cmake -DCMAKE_BUILD_TYPE=Release -DZSTD_FROM_INTERNET=ON .. \
&& make install -j$(nproc) \
&& which ccache \
&& ccache --version \
&& ccache -s
# Download ccache from GCS bucket (optional)
# Example directory structure:
# CCACHE_DIR = ~/.cache/ccache
# CCACHE_DIR_NAME = ccache
# CCACHE_DIR_PARENT = ~/.cache
RUN CCACHE_DIR=$(ccache -p | grep cache_dir | grep -oE "[^ ]+$") \
&& CCACHE_DIR_NAME=$(basename ${CCACHE_DIR}) \
&& CCACHE_DIR_PARENT=$(dirname ${CCACHE_DIR}) \
&& mkdir -p ${CCACHE_DIR_PARENT} \
&& cd ${CCACHE_DIR_PARENT} \
&& (wget -q https://storage.googleapis.com/open3d-ci-cache/${CCACHE_TAR_NAME}.tar.gz || true) \
&& if [ -f ${CCACHE_TAR_NAME}.tar.gz ]; then tar -xf ${CCACHE_TAR_NAME}.tar.gz; fi
# We need to set ccache size explicitly with -M, otherwise the default size is
# *not* determined by ccache's default, but the downloaded ccache file's config.
RUN ccache -M 5G \
&& ccache -s
# Miniconda
ENV PATH="/root/miniconda3/bin:${PATH}"
RUN wget -q https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh \
&& bash Miniconda3-latest-Linux-x86_64.sh -b \
&& rm Miniconda3-latest-Linux-x86_64.sh \
&& conda --version
ENV PATH="/root/miniconda3/envs/open3d/bin:${PATH}"
RUN conda create -y -n open3d python=${PYTHON_VERSION} \
&& source activate open3d
RUN which python \
&& python --version
# Checkout Open3D-ML master branch
# TODO: We may add support for local Open3D-ML repo or pinned ML repo tag
ENV OPEN3D_ML_ROOT=/root/Open3D-ML
RUN git clone https://github.com/isl-org/Open3D-ML.git ${OPEN3D_ML_ROOT}
# Open3D C++ dependencies
# Done before copying the full Open3D directory for better Docker caching
COPY ./util/install_deps_ubuntu.sh /root/Open3D/util/
RUN /root/Open3D/util/install_deps_ubuntu.sh assume-yes \
&& rm -rf /var/lib/apt/lists/*
# Open3D Python dependencies
COPY ./util/ci_utils.sh /root/Open3D/util/
COPY ./python/requirements.txt /root/Open3D/python/
COPY ./python/requirements_jupyter_build.txt /root/Open3D/python/
COPY ./python/requirements_jupyter_install.txt /root/Open3D/python/
RUN source /root/Open3D/util/ci_utils.sh \
&& install_python_dependencies with-cuda with-jupyter
# Open3D Jupyter dependencies
RUN curl -fsSL https://deb.nodesource.com/setup_16.x | bash - \
&& apt-get install -y nodejs \
&& rm -rf /var/lib/apt/lists/* \
&& node --version
RUN npm install -g yarn \
&& yarn --version
# Open3D repo
# Always keep /root/Open3D as the WORKDIR
COPY . /root/Open3D
WORKDIR /root/Open3D
# Build python wheel
RUN export NPROC=$(nproc) \
&& export BUILD_SHARED_LIBS=OFF \
&& export BUILD_TENSORFLOW_OPS=ON \
&& export BUILD_PYTORCH_OPS=ON \
&& source /root/Open3D/util/ci_utils.sh \
&& build_pip_package build_azure_kinect build_jupyter
# Compress ccache folder, move to / directory
RUN ccache -s \
&& CCACHE_DIR=$(ccache -p | grep cache_dir | grep -oE "[^ ]+$") \
&& CCACHE_DIR_NAME=$(basename ${CCACHE_DIR}) \
&& CCACHE_DIR_PARENT=$(dirname ${CCACHE_DIR}) \
&& cd ${CCACHE_DIR_PARENT} \
&& tar -czf /${CCACHE_TAR_NAME}.tar.gz ${CCACHE_DIR_NAME}
RUN echo "Docker build done."
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