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https://github.com/PINTO0309/Open3D-build

Provide Docker build sequences of Open3D for various environments.
https://github.com/PINTO0309/Open3D-build
cuda docker jetson jetson-nano open3d open3d-python pytorch tensorflow
Last synced: 13 days ago
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Provide Docker build sequences of Open3D for various environments.
Host: GitHub
URL: https://github.com/PINTO0309/Open3D-build
Owner: PINTO0309
License: mit
Created: 2021-02-15T03:32:46.000Z (over 3 years ago)
Default Branch: main
Last Pushed: 2021-02-23T08:54:59.000Z (over 3 years ago)
Last Synced: 2024-10-03T15:53:08.784Z (about 1 month ago)
Topics: cuda, docker, jetson, jetson-nano, open3d, open3d-python, pytorch, tensorflow
Language: Dockerfile
Homepage: https://qiita.com/PINTO
Size: 24.4 KB
Stars: 14
Watchers: 3
Forks: 1
Open Issues: 1
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project

README

        # Open3D-build

Provide Docker build sequences of Open3D for various environments.  

**https://github.com/intel-isl/Open3D**

## 1. Docker Image Environment

- Ubuntu 18.04 x86_64

    - CUDA 11.0

    - cuDNN 8.0

    - TensorFlow v2.4.1 (Build from source code. It will be downloaded automatically during docker build.)

    - PyTorch v1.7.1 (Build from source code. It will be downloaded automatically during docker build.)

- Jetson Nano L4T r32.5.0 aarch64

    - CUDA 10.2

    - cuDNN 8.0

    - TensorFlow v2.4.1 (Build from source code. It will be downloaded automatically during docker build.)

    - PyTorch v1.7.1 (Build from source code. It will be downloaded automatically during docker build.)

- Open3D 0.12.0

## 2. Default build parameters

### 2-1. Ubuntu 18.04 x86_64

```

-- ========================================================================

-- Open3D 0.12.0 Configuration Summary

-- ========================================================================

-- Enabled Features:

--   OpenMP .................................. ON

--   Headless Rendering ...................... OFF

--   Azure Kinect Support .................... ON

--   Intel RealSense Support ................. ON

--   CUDA Support ............................ ON

--   Build GUI ............................... ON

--   Build Shared Library .................... ON

--   Build Unit Tests ........................ OFF

--   Build Examples .......................... 

--   Build Python Module ..................... ON

--   - with Jupyter Notebook Support ......... ON

--   Build TensorFlow Ops .................... ON

--   Build PyTorch Ops ....................... ON

--   Build Benchmarks ........................ ON

--   Bundle Open3D-ML ........................ ON

--   Build RPC interface ..................... ON

--   Force GLIBCXX_USE_CXX11_ABI= ............ 1

-- ========================================================================

-- Third-Party Dependencies:

--   EIGEN3 .................................. yes (build from source)

--   FAISS ................................... no

--   FILAMENT ................................ yes (build from source)

--   FLANN ................................... yes (build from source)

--   FMT ..................................... yes (build from source)

--   GLEW .................................... yes (build from source)

--   GLFW .................................... yes (build from source)

--   GOOGLETEST .............................. no

--   IMGUI ................................... yes (build from source)

--   JPEG .................................... yes (build from source)

--   JSONCPP ................................. yes (build from source)

--   LIBLZF .................................. yes (build from source)

--   OPENGL .................................. yes (build from source)

--   PNG ..................................... yes (build from source)

--   PYBIND11 ................................ yes (build from source)

--   QHULL ................................... yes (build from source)

--   LIBREALSENSE ............................ yes (build from source)

--   TINYFILEDIALOGS ......................... yes (build from source)

--   TINYGLTF ................................ yes (build from source)

--   TINYOBJLOADER ........................... yes (build from source)

-- ========================================================================

```

### 2-2. Jetson Nano L4T r32.5.0 aarch64

```

-- ========================================================================

-- Open3D 0.12.0 Configuration Summary

-- ========================================================================

-- Enabled Features:

--   OpenMP .................................. ON

--   Headless Rendering ...................... OFF

--   Azure Kinect Support .................... ON

--   Intel RealSense Support ................. ON

--   CUDA Support ............................ ON

--   Build GUI ............................... ON

--   Build Shared Library .................... ON

--   Build Unit Tests ........................ OFF

--   Build Examples .......................... 

--   Build Python Module ..................... ON

--   - with Jupyter Notebook Support ......... ON

--   Build TensorFlow Ops .................... ON

--   Build PyTorch Ops ....................... ON

--   Build Benchmarks ........................ ON

--   Bundle Open3D-ML ........................ ON

--   Build RPC interface ..................... ON

--   Force GLIBCXX_USE_CXX11_ABI= ............ 1

-- ========================================================================

-- Third-Party Dependencies:

--   EIGEN3 .................................. yes (build from source)

--   FAISS ................................... no

--   FILAMENT ................................ yes (build from source)

--   FLANN ................................... yes (build from source)

--   FMT ..................................... yes (build from source)

--   GLEW .................................... yes (build from source)

--   GLFW .................................... yes (build from source)

--   GOOGLETEST .............................. no

--   IMGUI ................................... yes (build from source)

--   JPEG .................................... yes (build from source)

--   JSONCPP ................................. yes (build from source)

--   LIBLZF .................................. yes (build from source)

--   OPENGL .................................. yes (build from source)

--   PNG ..................................... yes (build from source)

--   PYBIND11 ................................ yes (build from source)

--   QHULL ................................... yes (build from source)

--   LIBREALSENSE ............................ yes (build from source)

--   TINYFILEDIALOGS ......................... yes (build from source)

--   TINYGLTF ................................ yes (build from source)

--   TINYOBJLOADER ........................... yes (build from source)

-- ========================================================================

```

## 3. Usage - Docker Build

You can customize the Dockerfile to build and run your own container images on your own.

### 3-1-1. x86_64 Build

```bash

$ version=0.12.0

$ git clone -b ${version} https://github.com/PINTO0309/Open3D-build.git

$ cd Open3D-build

$ docker build -t pinto0309/open3d-build:latest x86_64

```

### 3-1-2. aarch64 Build

```bash

$ version=0.12.0

$ git clone -b ${version} https://github.com/PINTO0309/Open3D-build.git

$ cd Open3D-build

$ docker build -t pinto0309/open3d-build:l4t-r32.5.0 aarch64/jetson_nano

```

### 3-2-1. x86_64 Run

```

$ docker run --gpus all -it --rm \

    -v `pwd`:/workspace \

    -e LOCAL_UID=$(id -u $USER) \

    -e LOCAL_GID=$(id -g $USER) \

    pinto0309/open3d-build:latest bash

```

### 3-2-2. aarch64 Run

#### 3-2-2-1. aarch64 emulation on x86_64 environment

```

$ docker run --rm --privileged multiarch/qemu-user-static --reset -p yes

$ docker run --gpus all -it --rm \

    -v `pwd`:/workspace \

    -e LOCAL_UID=$(id -u $USER) \

    -e LOCAL_GID=$(id -g $USER) \

    pinto0309/open3d-build:l4t-r32.5.0 bash

```

#### 3-2-2-2. Running on the aarch64 environment

```

$ docker run --gpus all -it --rm \

    -v `pwd`:/workspace \

    -e LOCAL_UID=$(id -u $USER) \

    -e LOCAL_GID=$(id -g $USER) \

    pinto0309/open3d-build:l4t-r32.5.0 bash

```

## 4. Usage - Docker Pull / Run

You can download and run a pre-built container image from Docker Hub.

```bash

$ docker run --gpus all -it --rm \

    -v `pwd`:/workspace \

    -e LOCAL_UID=$(id -u $USER) \

    -e LOCAL_GID=$(id -g $USER) \

    pinto0309/open3d-build:latest bash

```

or

```bash

$ docker run --rm --privileged multiarch/qemu-user-static --reset -p yes

$ docker run --gpus all -it --rm \

    -v `pwd`:/workspace \

    -e LOCAL_UID=$(id -u $USER) \

    -e LOCAL_GID=$(id -g $USER) \

    pinto0309/open3d-build:l4t-r32.5.0 bash

```

## 5. Usage - pip installer

You can download and install the released Wheel installer. TensorFlow and PyTorch have already been optimized and built for Open3D.

```bash

$ wget https://github.com/PINTO0309/Open3D-build/releases/download/v0.12.0/open3d-0.12.0+313315d9-cp36-cp36m-linux_x86_64.whl \

  && wget https://github.com/PINTO0309/Open3D-build/releases/download/v0.12.0/tensorflow-2.4.1-cp36-cp36m-linux_x86_64.whl \

  && wget https://github.com/PINTO0309/Open3D-build/releases/download/v0.12.0/torch-1.7.0a0-cp36-cp36m-linux_x86_64.whl \

  && wget https://github.com/PINTO0309/Open3D-build/releases/download/v0.12.0/torchaudio-0.7.0a0+a853dff-cp36-cp36m-linux_x86_64.whl \

  && wget https://github.com/PINTO0309/Open3D-build/releases/download/v0.12.0/torchvision-0.8.0a0+2f40a48-cp36-cp36m-linux_x86_64.whl \

  && sudo pip3 install --upgrade *.whl

```

## 6. Appendix

### 6-1. TensorFlow (CUDA enabled) build command

```bash

$ git clone -b v2.4.1 https://github.com/tensorflow/tensorflow.git

$ cd tensorflow

$ sudo ./configure

$ sudo bazel build \

    --config=cuda \

    --config=noaws \

    --config=nohdfs \

    --config=nonccl \

    --config=v2 \

    //tensorflow/tools/pip_package:build_pip_package

```

### 6-2. PyTorch (CUDA enabled) build command

**https://github.com/PINTO0309/PyTorch-build**

```bash

$ git clone -b v1.7.1 --recursive https://github.com/pytorch/pytorch

$ cd pytorch \

    && sed -i -e "/^#ifndef THRUST_IGNORE_CUB_VERSION_CHECK$/i #define THRUST_IGNORE_CUB_VERSION_CHECK" \

                 /usr/local/cuda/targets/x86_64-linux/include/thrust/system/cuda/config.h \

    && cat /usr/local/cuda/targets/x86_64-linux/include/thrust/system/cuda/config.h \

    && sed -i -e "/^if(DEFINED GLIBCXX_USE_CXX11_ABI)/i set(GLIBCXX_USE_CXX11_ABI 1)" \

                 CMakeLists.txt \

    && pip3 install -r requirements.txt \

    && python3 setup.py build \

    && python3 setup.py bdist_wheel \

    && cd ..

$ git clone -b v0.8.2 https://github.com/pytorch/vision.git

$ cd vision \

    && pip3 install /pytorch/dist/*.whl \

    && python3 setup.py build \

    && python3 setup.py bdist_wheel \

    && cd ..

$ git clone -b v0.7.2 https://github.com/pytorch/audio.git

$ cd audio \

    && apt-get install -y sox libsox-dev \

    && python3 setup.py build \

    && python3 setup.py bdist_wheel \

    && cd ..

```