# Academic Software License: Copyright © 2024.

# SimBEV Docker Configuration Script
#
# This script performs all the necessary steps for creating a SimBEV Docker
# image.
#
# The base Docker image is Ubuntu 20.04 with CUDA 11.3 and Vulkan SDK
# 1.3.204.1. If you want to use a different base image, you may have to modify
# "ubuntu2004/x86_64" when fetching keys, based on your Ubuntu release and
# system architecture.

# Build Arguments (Case Sensitive):
#
# USER:          username inside each container, set to "sb" by default.
# CARLA_VERSION: installed version of CARLA, set to "0.9.15" by default.

# Installation:
#
# 1. Install Docker on your system (https://docs.docker.com/engine/install/).
# 2. Install the Nvidia Container Toolkit
# (https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#installation-guide).
# It exposes your Nvidia graphics card to Docker containers.
# 3. In the Dockerfile directory, run
#
# docker build --no-cache --rm --build-arg ARG -t simbev:develop .

# Usage:
#
# Launch a container by running
#
# docker run --privileged --gpus all --network=host -e DISPLAY=$DISPLAY
# -v [path/to/CARLA]/carla:/home/carla
# -v [path/to/SimBEV]/simbev:/home/simbev
# -v [path/to/dataset]/dataset:/dataset
# --shm-size 32g -it simbev:develop /bin/bash
#
# Use "nvidia-smi" to ensure your graphics card is visible inside the
# container.

FROM nvidia/cuda:11.3.1-devel-ubuntu20.04

# Define build arguments and environment variables.

ARG USER=sb
ARG CARLA_VERSION=0.9.15

ENV USER=${USER}
ENV TZ=America/New_York
ENV DEBIAN_FRONTEND=noninteractive
ENV CARLA_VERSION=$CARLA_VERSION
ENV CARLA_ROOT=/home/carla
ENV PYTHONPATH=${CARLA_ROOT}/PythonAPI/carla/dist/carla-${CARLA_VERSION}-py3.7-linux-x86_64.egg

# Add new user and install prerequisite packages.

WORKDIR /home

RUN useradd -m ${USER}

RUN set -xue && apt-key del 7fa2af80 \
&& apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/3bf863cc.pub \
&& apt-get update \
&& apt-get install -y build-essential cmake debhelper git wget xdg-user-dirs xserver-xorg libvulkan1 libsdl2-2.0-0 \
libsm6 libgl1-mesa-glx libomp5 pip unzip libjpeg8 libtiff5 software-properties-common nano fontconfig g++ gcc gdb \
libglib2.0-0 libgtk2.0-dev libnvidia-gl-470 libnvidia-common-470 libvulkan-dev vulkan-utils python-is-python3

RUN pip install --no-cache-dir numpy matplotlib opencv-python open3d scikit-image flow_vis pyquaternion \
networkx==2.7.1 torch==1.10.1+cu113 -f https://download.pytorch.org/whl/torch_stable.html

USER ${USER}