add Dockerfile

docker/Dockerfile

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+ARG CUDA_VERSION=11.3.1
+ARG OS_VERSION=20.04
+# pull a prebuilt image
+FROM nvidia/cuda:${CUDA_VERSION}-cudnn8-devel-ubuntu${OS_VERSION}
+
+# setup timezone
+ENV TZ=US/Pacific
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
+SHELL ["/bin/bash", "-c"]
+
+# Required to build Ubuntu 20.04 without user prompts with DLFW container
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install requried libraries
+RUN apt-get update && apt-get install -y software-properties-common
+RUN add-apt-repository ppa:ubuntu-toolchain-r/test
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    libcurl4-openssl-dev \
+    wget \
+    zlib1g-dev \
+    git \
+    sudo \
+    ssh \
+    libssl-dev \
+    pbzip2 \
+    pv \
+    bzip2 \
+    unzip \
+    devscripts \
+    lintian \
+    fakeroot \
+    dh-make \
+    build-essential \
+    curl \
+    ca-certificates \
+    libx11-6 \
+    nano \
+    graphviz \
+    libgl1-mesa-glx \
+    openssh-server \
+    apt-transport-https
+
+# Install other dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    libgtk2.0-0 \
+    libcanberra-gtk-module \
+    libsm6 libxext6 libxrender-dev \
+    libgtk2.0-dev pkg-config \
+    libopenmpi-dev \
+ && sudo rm -rf /var/lib/apt/lists/*
+
+# Install Miniconda
+RUN wget \
+    https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh \
+    && mkdir /root/.conda \
+    && bash Miniconda3-latest-Linux-x86_64.sh -b \
+    && rm -f Miniconda3-latest-Linux-x86_64.sh 
+
+ENV CONDA_DEFAULT_ENV=${project}
+ENV CONDA_PREFIX=/root/miniconda3/envs/$CONDA_DEFAULT_ENV
+ENV PATH=/root/miniconda3/bin:$CONDA_PREFIX/bin:$PATH
+
+# install python 3.8
+RUN conda install python=3.8
+RUN alias python='/root/miniconda3/envs/bin/python3.8'
+
+# Set environment and working directory
+ENV CUDA_HOME=/usr/local/cuda
+ENV LD_LIBRARY_PATH=$CUDA_HOME/lib64:$CUDA_HOME/extras/CUPTI/lib64/:$LD_LIBRARY_PATH
+ENV PATH=$CUDA_HOME/bin:$PATH
+ENV CFLAGS="-I$CUDA_HOME/include $CFLAGS"
+ENV FORCE_CUDA="1"
+ENV PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/root/miniconda3/envs/bin:$PATH
+
+# install pytorch
+RUN pip install torch==1.9.1+cu111 torchvision==0.10.1+cu111 torchaudio==0.9.1 -f https://download.pytorch.org/whl/torch_stable.html
+
+# install opencv
+RUN python -m pip install opencv-python==4.5.5.62
+
+# install gcc
+RUN conda install -c omgarcia gcc-6
+
+# install torchpack
+RUN git clone https://github.com/zhijian-liu/torchpack.git
+RUN cd torchpack && python -m pip install -e .
+
+# install other dependencies
+RUN python -m pip install mmcv-full==1.4.0 -f https://download.openmmlab.com/mmcv/dist/cu111/torch1.9.0/index.html
+RUN python -m pip install pillow==8.4.0 \
+                          tqdm \
+                          mmdet==2.14.0 \
+                          mmsegmentation==0.14.1 \
+                          numba \
+                          mpi4py \
+                          nuscenes-devkit \
+                          setuptools==59.5.0
+
+# install mmdetection3d from source
+ENV TORCH_CUDA_ARCH_LIST="6.0 6.1 7.0+PTX"
+ENV TORCH_NVCC_FLAGS="-Xfatbin -compress-all"
+ENV CMAKE_PREFIX_PATH="$(dirname $(which conda))/../"
+
+RUN apt-get update && apt-get install -y ffmpeg libsm6 libxext6 git ninja-build libglib2.0-0 libsm6 libxrender-dev libxext6 \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+RUN git clone https://github.com/open-mmlab/mmdetection3d.git && \
+    cd mmdetection3d && \
+    git checkout v0.17.1 && \
+    python -m pip install -r requirements/build.txt && \
+    python -m pip install --no-cache-dir -e .
+
+# install timm
+RUN python -m pip install timm
+
+# libraries path
+RUN ln -s /usr/local/cuda/lib64/libcusolver.so.11 /usr/local/cuda/lib64/libcusolver.so.10
+
+USER root
+RUN ["/bin/bash"]