fix dockerfile, add auto-launch script

script/docker/Dockerfile

@@ -0,0 +1,23 @@
+FROM nvidia/cuda:11.6.2-devel-ubuntu20.04
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Get all dependencies
+RUN apt-get update && apt-get install -y \
+    git zip build-essential cmake libssl-dev python3-dev  python3-pip python3-pip cmake ninja-build git wget ca-certificates ffmpeg libsm6 libxext6 &&\
+    rm -rf /var/lib/apt/lists/*
+
+RUN ln -sv /usr/bin/python3 /usr/bin/python
+ENV PATH="/root/.local/bin:${PATH}"
+RUN wget -O /root/get-pip.py https://bootstrap.pypa.io/get-pip.py && python3 /root/get-pip.py --user
+
+# PyTorch for CUDA 11.6
+RUN pip install torch==1.13.1+cu116 torchvision==0.14.1+cu116 torchaudio==0.13.1 --extra-index-url https://download.pytorch.org/whl/cu116
+ENV TORCH_CUDA_ARCH_LIST="3.5;5.0;6.0;6.1;7.0;7.5;8.0;8.6+PTX;Kepler;Kepler+Tesla;Maxwell;Maxwell+Tegra;Pascal;Volta;Turing;8.6"
+
+RUN pip install numpy==1.23.0 llvmlite numba opencv-python tensorboardX easydict pyyaml scikit-image tqdm SharedArray open3d mayavi av2 pyquaternion kornia==0.6.8 nuscenes-devkit==1.0.5 spconv-cu116
+RUN python -m pip install --user jupyter
+RUN git clone https://github.com/open-mmlab/OpenPCDet.git
+WORKDIR OpenPCDet
+RUN python setup.py develop
+RUN pip install torch-scatter==2.0.9 -f https://data.pyg.org/whl/torch-1.13.1+cu116.html
+

docker/Dockerfile → script/docker/cu102.Dockerfile

@@ -4,52 +4,52 @@ RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selectio
 
 # Install basics
 RUN apt-get update -y \
-    && apt-get install build-essential \
-    && apt-get install -y apt-utils git curl ca-certificates bzip2 tree htop wget \
-    && apt-get install -y libglib2.0-0 libsm6 libxext6 libxrender-dev bmon iotop g++ python3.7 python3.7-dev python3.7-distutils
+  && apt-get install build-essential \
+  && apt-get install -y apt-utils git curl ca-certificates bzip2 tree htop wget \
+  && apt-get install -y libglib2.0-0 libsm6 libxext6 libxrender-dev bmon iotop g++ python3.7 python3.7-dev python3.7-distutils
 
 # Install cmake v3.13.2
 RUN apt-get purge -y cmake && \
-    mkdir /root/temp && \
-    cd /root/temp && \
-    wget https://github.com/Kitware/CMake/releases/download/v3.13.2/cmake-3.13.2.tar.gz && \
-    tar -xzvf cmake-3.13.2.tar.gz && \
-    cd cmake-3.13.2 && \
-    bash ./bootstrap && \
-    make && \
-    make install && \
-    cmake --version && \
-    rm -rf /root/temp
+  mkdir /root/temp && \
+  cd /root/temp && \
+  wget https://github.com/Kitware/CMake/releases/download/v3.13.2/cmake-3.13.2.tar.gz && \
+  tar -xzvf cmake-3.13.2.tar.gz && \
+  cd cmake-3.13.2 && \
+  bash ./bootstrap && \
+  make && \
+  make install && \
+  cmake --version && \
+  rm -rf /root/temp
 
 # Install python
 RUN ln -sv /usr/bin/python3.7 /usr/bin/python
 RUN wget https://bootstrap.pypa.io/get-pip.py && \
-	python get-pip.py && \
-	rm get-pip.py
+  python get-pip.py && \
+  rm get-pip.py
 
 # Install python packages
 RUN PIP_INSTALL="python -m pip --no-cache-dir install" && \
-    $PIP_INSTALL numpy==1.19.3 llvmlite numba 
+  $PIP_INSTALL numpy==1.19.3 llvmlite numba
 
 # Install torch and torchvision
 # See https://pytorch.org/ for other options if you use a different version of CUDA
 RUN pip install --user torch==1.6 torchvision==0.7.0 -f https://download.pytorch.org/whl/cu102/torch_stable.html
 
 # Install python packages
 RUN PIP_INSTALL="python -m pip --no-cache-dir install" && \
-    $PIP_INSTALL tensorboardX easydict pyyaml scikit-image tqdm SharedArray six
+  $PIP_INSTALL tensorboardX easydict pyyaml scikit-image tqdm SharedArray six
 
 WORKDIR /root
 
 # Install Boost geometry
 RUN wget https://jaist.dl.sourceforge.net/project/boost/boost/1.68.0/boost_1_68_0.tar.gz && \
-    tar xzvf boost_1_68_0.tar.gz && \
-    cp -r ./boost_1_68_0/boost /usr/include && \
-    rm -rf ./boost_1_68_0 && \
-    rm -rf ./boost_1_68_0.tar.gz 
+  tar xzvf boost_1_68_0.tar.gz && \
+  cp -r ./boost_1_68_0/boost /usr/include && \
+  rm -rf ./boost_1_68_0 && \
+  rm -rf ./boost_1_68_0.tar.gz
 
 # A weired problem that hasn't been solved yet
 RUN pip uninstall -y SharedArray && \
-    pip install SharedArray
+  pip install SharedArray
 
 RUN pip install spconv-cu102

script/make_image.sh

@@ -0,0 +1,24 @@
+#!/bin/bash
+
+while [[ "$#" -gt 0 ]]; do
+    case $1 in
+        --nocache) NOCACHE="true" ;;
+        *) echo "Unknown parameter passed: $1"; exit 1 ;;
+    esac
+    shift
+done
+
+# Get directory of this script
+SOURCE_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+DOCKER_DIR=${SOURCE_DIR}/docker
+
+IMAGE_NAME=openpcdet
+
+
+
+if [[ ${NOCACHE} == 'true' ]]
+then
+    DOCKER_BUILDKIT=1 docker build --build-arg CACHEBUST=$(date +%s) --no-cache -t ${IMAGE_NAME} ${DOCKER_DIR}
+else
+    DOCKER_BUILDKIT=1 docker build --build-arg CACHEBUST=$(date +%s) -t ${IMAGE_NAME} ${DOCKER_DIR}
+fi

script/readme.md

@@ -0,0 +1,27 @@
+
+## Installation
+- This Docker Image is based on cuda 11.6 and torch 1.13.1. If your nvidia-drive is able to support this version, just follow the below guidance
+
+```bash
+git clone https://github.com/open-mmlab/OpenPCDet.git
+cd OpenPCDet
+
+# For Making Docker Image
+./scripts/make_image.sh
+
+# For Making Docker Image without cache
+./scripts/make_image.sh --nocache
+
+```
+
+## Usage
+
+- You can launch docker image after finishing the Installation
+
+```bash
+# For Launching Docker Image temporarily
+./scripts/run_image.sh
+
+# For MakLaunchinging Docker Image permanently
+./scripts/run_image.sh --keep-alive
+```

script/run_image.sh

@@ -0,0 +1,36 @@
+#!/bin/bash
+
+# Default arguments
+PORT=$(( ${RANDOM} % 9000 + 1000 ))
+IMAGE_NAME=openpcdet
+COMMAND=bash
+IMAGE_NAME_=${IMAGE_NAME//\//_}
+IMAGE_NAME_=${IMAGE_NAME_//:/_}
+GPUS_ARGS="--gpus all"
+
+while [[ "$#" -gt 0 ]]; do
+    case $1 in
+        --keep-alive) KEEP_ALIVE="true" ;;
+        *) echo "Unknown parameter passed: $1"; exit 1 ;;
+    esac
+    shift
+done
+
+if [[ ${KEEP_ALIVE} == 'true' ]]
+then
+    DOCKER_ARGS="-tid --restart always"
+else
+    DOCKER_ARGS="-ti --rm"
+fi
+
+docker run --ipc=host --shm-size=8gb --pid=host \
+        ${DOCKER_ARGS} \
+        -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
+        -v ${HOME}:${HOME} \
+        ${GPUS_ARGS} \
+        -p 2${PORT}:8080 \
+        -p 3${PORT}:8097 \
+        -p 4${PORT}:8888 \
+        -p 5${PORT}:6006 \
+        --name ${USER}.${IMAGE_NAME_}.${PORT} \
+        ${IMAGE_NAME} ${COMMAND}