Dockerfile.openblas

# FROM must be called before other ARGS except for ARG BASE_IMAGE
ARG BASE_IMAGE
FROM ${BASE_IMAGE}

ARG CMAKE_VER
ARG CCACHE_TAR_NAME

RUN if [ -z "${CMAKE_VER}"       ]; then echo "Error: ARG CMAKE_VER       not specified."; exit 1; fi \
 && if [ -z "${CCACHE_TAR_NAME}" ]; then echo "Error: ARG CCACHE_TAR_NAME not specified."; exit 1; fi

# Non-interactive dpkg
ENV DEBIAN_FRONTEND=noninteractive

# Open3D dependencies
RUN apt-get update && apt-get install -y \
    apt-utils  \
    autoconf \
    build-essential \
    ccache \
    clang-7 \
    git  \
    libblas-dev  \
    libc++-7-dev \
    libc++abi-7-dev \
    libglu1-mesa-dev \
    liblapack-dev  \
    liblapacke-dev \
    libosmesa6-dev \
    libsdl2-dev \
    libtbb-dev \
    libtool \
    libudev-dev \
    libxi-dev \
    ninja-build \
    wget \
    xorg-dev \
 && rm -rf /var/lib/apt/lists/*

# No virtual environment is needed, default to python 3.6
RUN apt-get update && apt-get install -y \
    python3 \
    python3-dev \
    python3-pip \
    python3-setuptools \
 && rm -rf /var/lib/apt/lists/*
RUN ln -s /usr/bin/python3 /usr/local/bin/python \
 && ln -s /usr/bin/python3-config /usr/local/bin/python-config \
 && ln -s /usr/bin/pip3 /usr/local/bin/pip

# Python dependencies
RUN python -m pip install -U \
    pip=="21.1.1" \
    wheel=="0.35.1" \
    setuptools=="50.3.2" \
    yapf=="0.30.0" \
    pytest=="6.0.1" \
    scipy=="1.5.4"

# CMake
# PWD is /, camke will be installed to /root/${CMAKE_VER}/bin/cmake
RUN CMAKE_VER_NUMBERS=$(echo "${CMAKE_VER}" | cut -d"-" -f2) \
 && wget -q https://github.com/Kitware/CMake/releases/download/v${CMAKE_VER_NUMBERS}/${CMAKE_VER}.tar.gz \
 && tar -xf ${CMAKE_VER}.tar.gz \
 && cp -ar ${CMAKE_VER} ${HOME}
ENV PATH=${HOME}/${CMAKE_VER}/bin:${PATH}

# Download ccache from GCS bucket
# If it doesn't exist on the cloud, an empty ${CCACHE_DIR} will be created.
# Example directory structure:
# - CCACHE_DIR        = ~/.cache/ccache
# - CCACHE_DIR_NAME   = ccache
# - CCACHE_DIR_PARENT = ~/.cache
RUN CCACHE_DIR=$(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 \
 && mkdir -p ${CCACHE_DIR}
# We need to set ccache size explicitly with -M, otherwise the defualt size is
# *not* determined by ccache's default, but the downloaded ccache file's config.
RUN ccache -M 5G \
 && ccache -s

# Open3D repo
# Always keep /root/Open3D as the WORKDIR
COPY . /root/Open3D
WORKDIR /root/Open3D

# `docker build` will build Open3D. The unit tests will be executed later in
# during `docker run`
WORKDIR /root/Open3D
RUN mkdir build \
 && cd build \
 && cmake \
    -DUSE_BLAS=ON \
    -DCMAKE_BUILD_TYPE=Release \
    -DBUILD_SHARED_LIBS=ON \
    -DBUILD_GUI=ON \
    -DBUILD_WEBRTC=OFF \
    -DCMAKE_C_COMPILER=gcc \
    -DCMAKE_CXX_COMPILER=g++ \
    -DBUILD_FILAMENT_FROM_SOURCE=ON \
    -DGLIBCXX_USE_CXX11_ABI=ON \
    -DBUILD_TENSORFLOW_OPS=OFF \
    -DBUILD_PYTORCH_OPS=OFF \
    -DBUILD_UNIT_TESTS=ON \
    -DCMAKE_INSTALL_PREFIX=~/open3d_install \
    .. \
 && make -j$(nproc) \
 && make install-pip-package -j$(nproc) \
 && make install -j$(nproc)

# Compress ccache folder, move to / directory (optional)
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} \
 && mv ${CCACHE_TAR_NAME}.tar.gz /