# FROM must be called before other ARGS except for ARG BASE_IMAGE
ARG BASE_IMAGE=nvcr.io/nvidia/l4t-base:r35.1.0
FROM nvcr.io/nvidia/l4t-base:r35.1.0

# For the rest of this Dockerfile
SHELL ["/bin/bash", "-c"]

# Required build args, should be specified in docker_build.sh
ARG CONDA_SUFFIX
ARG CMAKE_VERSION
ARG PYTHON_VERSION
ARG DEVELOPER_BUILD
RUN if [ -z "${CONDA_SUFFIX}"    ]; then echo "Error: ARG CONDA_SUFFIX    not specified."; exit 1; fi \
 && if [ -z "${CMAKE_VERSION}"   ]; then echo "Error: ARG CMAKE_VERSION   not specified."; exit 1; fi \
 && if [ -z "${PYTHON_VERSION}"  ]; then echo "Error: ARG PYTHON_VERSION  not specified."; exit 1; fi \
 && if [ -z "${DEVELOPER_BUILD}" ]; then echo "Error: ARG DEVELOPER_BUILD not specified."; exit 1; fi

# Prevent interactive inputs when installing packages
ENV DEBIAN_FRONTEND=noninteractive
ENV TZ=America/Los_Angeles
ENV SUDO=command

RUN \
    touch /etc/apt/sources.list.d/nvidia-l4t-apt-source.list && \
    echo "deb https://repo.download.nvidia.com/jetson/t194 r35.1 main" >> /etc/apt/sources.list.d/nvidia-l4t-apt-source.list && \
    apt-key adv --fetch-key http://repo.download.nvidia.com/jetson/jetson-ota-public.asc && \
    mkdir -p /opt/nvidia/l4t-packages/ && \
    touch /opt/nvidia/l4t-packages/.nv-l4t-disable-boot-fw-update-in-preinstall

RUN \
    apt-get update && apt-get install -y --assume-yes --verbose-versions --allow-change-held-packages -o Dpkg::Options::="--force-confdef" \
    apt-utils \
    nvidia-jetpack

ENV UDEV=1
ENV CUDACXX=/usr/local/cuda/bin/nvcc
ENV CUDA_HOME=/usr/local/cuda
ENV PATH=$PATH:/usr/local/cuda/bin/:/opt/nvidia/
ENV LD_LIBRARY_PATH=/usr/local/cuda/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
# Minimal dependencies for running Docker
# wget    : for downloading
# libgl1  : available on Ubuntu ARM desktop by default
# libgomp1: available on Ubuntu ARM desktop by default
RUN apt-get update && apt-get install -y -y --no-install-recommends --assume-yes --verbose-versions --allow-change-held-packages -o Dpkg::Options::="--force-confdef" \
    wget \
    libgl1 \
    libgomp1 \
 && rm -rf /var/lib/apt/lists/*

# Minimal dependencies for building
RUN apt-get update && apt-get install -y --no-install-recommends --assume-yes --verbose-versions --allow-change-held-packages -o Dpkg::Options::="--force-confdef" \
    build-essential \
    cmake-gui \
    git \
 && rm -rf /var/lib/apt/lists/*

# Eigen

WORKDIR /root
RUN wget https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz && tar -xvf eigen-3.4.0.tar.gz && mkdir /root/eigen-3.4.0/build
WORKDIR /root/eigen-3.4.0
RUN cd build && cmake \
        -DEIGEN_CUDA_COMPUTE_ARCH=86 \
        -DEIGEN_TEST_CUDA=ON \
        -DEIGEN_TEST_CUDA_CLANG=ON \
        -DEIGEN_TEST_NEON=ON \
        -DEIGEN_TEST_NEON64=ON \
        .. \
&& make install
WORKDIR /root

# mininiconda
ENV PATH="/root/miniconda3/bin:${PATH}"
RUN wget -q https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-${CONDA_SUFFIX}.sh \
 && bash Miniconda3-latest-Linux-${CONDA_SUFFIX}.sh -b \
 && rm Miniconda3-latest-Linux-${CONDA_SUFFIX}.sh \
 && conda --version
ENV PATH="/root/miniconda3/envs/open3d/bin:${PATH}"
RUN conda create -y -n open3d python=${PYTHON_VERSION} \
 && source activate open3d
RUN which python \
 && python --version

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

# Install dependencies before copying the full Open3D directory for better Docker caching
# Open3D C++ dependencies
COPY ./util/install_deps_ubuntu.sh /root/Open3D/util/
RUN /root/Open3D/util/install_deps_ubuntu.sh assume-yes \
 && rm -rf /var/lib/apt/lists/*
RUN echo ${PATH} \
 && echo "gcc=$(which gcc)" \
 && gcc --version \
 && echo "g++=$(which g++)" \
 && g++ --version

# Python and dependencies
COPY ./python/requirements*.txt /root/Open3D/python/
RUN which python \
 && python --version \
 && python -m pip install -U -r /root/Open3D/python/requirements.txt \
  -r /root/Open3D/python/requirements_build.txt \
  -r /root/Open3D/python/requirements_test.txt

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

# Remove unsupported CUDA arches

RUN \
        find . -name '*.cmake' -exec sed -i -e 's|60-real 70-real 72-real 75-real 80-real 86|75-real 80-real 86|g' {} \; && \
        find . -name '*.cmake' -exec sed -i -e 's|60-real 70-real 72-real 75-real 80|75-real 80-real 86|g' {} \; && \
        find . -name '*.cmake' -exec sed -i -e 's|30-real 50-real 60-real 70-real 72-real 75|75-real 80-real 86|g' {} \;

# Build
# -DCPP_LIBRARY=/usr/lib/llvm-10/lib/libc++.so
# -CPPABI_LIBRARY=/usr/lib/llvm-10/lib/libc++abi.so

RUN git submodule update --init --recursive \
 && mkdir build \
 && cd build \
 && cmake \
        -DCMAKE_BUILD_TYPE=Release \
        -DBUILD_UNIT_TESTS=ON \
        -DBUILD_CUDA_MODULE=ON \
        -DCUDAToolkit_BIN_DIR=/usr/local/cuda/bin \
        -DCUDAToolkit_CUPTI_INCLUDE_DIR=/usr/local/cuda/include \
        -DCMAKE_BUILD_TYPE=Release \
        -DCMAKE_INSTALL_PREFIX=~/open3d_install \
        -DDEVELOPER_BUILD=${DEVELOPER_BUILD} \
        -DUSE_SYSTEM_EIGEN3=ON \
        -DEigen3_DIR=/usr/local/share/eigen3/cmake \
        -DBUILD_SHARED_LIBS=ON \
        -DBUILD_GUI=ON \
        -DBUILD_TENSORFLOW_OPS=OFF \
        -DBUILD_PYTORCH_OPS=OFF \
        -DUSE_BLAS=ON \
        -DBUILD_FILAMENT_FROM_SOURCE=ON \
        -DCMAKE_CXX_FLAGS_RELEASE=ON \
        -DCMAKE_CXX_FLAGS_RELEASE="-O3 -DNDEBUG -faligned-new" \
        -DBUILD_LIBREALSENSE=OFF \
        -DUSE_SYSTEM_LIBREALSENSE=OFF \
    .. \
 && make -j$(nproc) \
 && make install-pip-package -j$(nproc) \
 && make install -j$(nproc)