added dockerfile for cu11.6.1 on ubuntu20.04 (#1457)

docker/cu116.Dockerfile

+FROM nvidia/cuda:11.6.2-devel-ubuntu20.04
+
+# Set environment variables
+ENV NVENCODE_CFLAGS "-I/usr/local/cuda/include"
+ENV CV_VERSION=4.2.0
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Get all dependencies
+RUN apt-get update && apt-get install -y \
+    git zip unzip libssl-dev libcairo2-dev lsb-release libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev software-properties-common \
+    build-essential cmake pkg-config libapr1-dev autoconf automake libtool curl libc6 libboost-all-dev debconf libomp5 libstdc++6 \
+    libqt5core5a libqt5xml5 libqt5gui5 libqt5widgets5 libqt5concurrent5 libqt5opengl5 libcap2 libusb-1.0-0 libatk-adaptor neovim \
+    python3-pip python3-tornado python3-dev python3-numpy python3-virtualenv libpcl-dev libgoogle-glog-dev libgflags-dev libatlas-base-dev \
+    libsuitesparse-dev python3-pcl pcl-tools libgtk2.0-dev libavcodec-dev libavformat-dev libswscale-dev libtbb2 libtbb-dev libjpeg-dev \
+    libpng-dev libtiff-dev libdc1394-22-dev xfce4-terminal &&\
+    rm -rf /var/lib/apt/lists/*
+
+# OpenCV with CUDA support
+WORKDIR /opencv
+RUN git clone https://github.com/opencv/opencv.git -b $CV_VERSION &&\
+    git clone https://github.com/opencv/opencv_contrib.git -b $CV_VERSION
+
+# While using OpenCV 4.2.0 we have to apply some fixes to ensure that CUDA is fully supported, thanks @https://github.com/gismo07 for this fix
+RUN mkdir opencvfix && cd opencvfix &&\
+    git clone https://github.com/opencv/opencv.git -b 4.5.2 &&\
+    cd opencv/cmake &&\
+    cp -r FindCUDA /opencv/opencv/cmake/ &&\
+    cp FindCUDA.cmake /opencv/opencv/cmake/ &&\
+    cp FindCUDNN.cmake /opencv/opencv/cmake/ &&\
+    cp OpenCVDetectCUDA.cmake /opencv/opencv/cmake/
+ 
+WORKDIR /opencv/opencv/build
+
+RUN cmake -D CMAKE_BUILD_TYPE=RELEASE \
+-D CMAKE_INSTALL_PREFIX=/usr/local \
+-D OPENCV_GENERATE_PKGCONFIG=ON \
+-D BUILD_EXAMPLES=OFF \
+-D INSTALL_PYTHON_EXAMPLES=OFF \
+-D INSTALL_C_EXAMPLES=OFF \
+-D PYTHON_EXECUTABLE=$(which python2) \
+-D PYTHON3_EXECUTABLE=$(which python3) \
+-D PYTHON3_INCLUDE_DIR=$(python3 -c "from distutils.sysconfig import get_python_inc; print(get_python_inc())") \
+-D PYTHON3_PACKAGES_PATH=$(python3 -c "from distutils.sysconfig import get_python_lib; print(get_python_lib())") \
+-D BUILD_opencv_python2=ON \
+-D BUILD_opencv_python3=ON \
+-D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules/ \
+-D WITH_GSTREAMER=ON \
+-D WITH_CUDA=ON \
+-D ENABLE_PRECOMPILED_HEADERS=OFF \
+.. &&\
+make -j$(nproc) &&\
+make install &&\
+ldconfig &&\
+rm -rf /opencv
+
+WORKDIR /
+ENV OpenCV_DIR=/usr/share/OpenCV
+
+
+# PyTorch for CUDA 11.6
+RUN pip3 install torch==1.13.1+cu116 torchvision==0.14.1+cu116 torchaudio==0.13.1 --extra-index-url https://download.pytorch.org/whl/cu116
+ENV TORCH_CUDA_ARCH_LIST="3.5;5.0;6.0;6.1;7.0;7.5;8.0;8.6+PTX"
+    
+# OpenPCDet
+RUN pip3 install numpy==1.23.0 llvmlite numba tensorboardX easydict pyyaml scikit-image tqdm SharedArray open3d mayavi av2 kornia pyquaternion
+RUN pip3 install spconv-cu116
+
+RUN git clone https://github.com/open-mmlab/OpenPCDet.git
+
+WORKDIR OpenPCDet
+
+RUN python3 setup.py develop
+    
+WORKDIR /
+
+ENV NVIDIA_VISIBLE_DEVICES="all" \
+    OpenCV_DIR=/usr/share/OpenCV \
+    NVIDIA_DRIVER_CAPABILITIES="video,compute,utility,graphics" \
+    LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/lib:/usr/lib:/usr/local/lib \
+    QT_GRAPHICSSYSTEM="native"
+
+# Build instructions: docker build -f minimal.Dockerfile -t openpcdet:cuda11 .
+# Start instructions: xhost local:root && docker run -it --rm -e SDL_VIDEODRIVER=x11 -e DISPLAY=$DISPLAY --env='DISPLAY' --gpus all --ipc host --privileged --network host -p 8080:8081 -v /tmp/.X11-unix:/tmp/.X11-unix:rw -v file_locations:/storage -v /weights:/weights openpcdet:cuda11 xfce4-terminal --title=openPCDet