Add support for docker (#799)

* add cbgs_dyn_pp_centerpoint.yaml

* add cbgs_voxel01_res3d_centerpoint.yaml

* add support of centerpoint on Nuscenes in README

* add translation augmentation, re-implement the performance of CenterPoints with 0.075m voxels

* cover the original world translation augmentation

* modify random_translation_along_X

* fix a small bug in random_world_translation()

* add support for docker

README.md

@@ -22,6 +22,8 @@ It is also the official code release of [`[PointRCNN]`](https://arxiv.org/abs/18
 
 ## Changelog
 
+[2022-02-12] Added support for using docker. Please refer to the guidance in [./docker](./docker).
+
 [2022-02-07] Added support for Centerpoint models on Nuscenes Dataset.
 
 [2022-01-14] Added support for dynamic pillar voxelization, following the implementation proposed in [H^23D R-CNN](https://arxiv.org/abs/2107.14391) with unique operation and [`torch_scatter`](https://github.com/rusty1s/pytorch_scatter) package.

docker/Dockerfile

+FROM nvidia/cuda:10.2-cudnn7-devel-ubuntu18.04
+
+RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
+
+# Install basics
+RUN apt-get update -y \
+    && apt-get install build-essential \
+    && apt-get install -y apt-utils git curl ca-certificates bzip2 tree htop wget \
+    && apt-get install -y libglib2.0-0 libsm6 libxext6 libxrender-dev bmon iotop g++ python3.7 python3.7-dev python3.7-distutils
+
+# Install cmake v3.13.2
+RUN apt-get purge -y cmake && \
+    mkdir /root/temp && \
+    cd /root/temp && \
+    wget https://github.com/Kitware/CMake/releases/download/v3.13.2/cmake-3.13.2.tar.gz && \
+    tar -xzvf cmake-3.13.2.tar.gz && \
+    cd cmake-3.13.2 && \
+    bash ./bootstrap && \
+    make && \
+    make install && \
+    cmake --version && \
+    rm -rf /root/temp
+
+# Install python
+RUN ln -sv /usr/bin/python3.7 /usr/bin/python
+RUN wget https://bootstrap.pypa.io/get-pip.py && \
+	python get-pip.py && \
+	rm get-pip.py
+
+# Install python packages
+RUN PIP_INSTALL="python -m pip --no-cache-dir install" && \
+    $PIP_INSTALL numpy==1.19.3 llvmlite numba 
+
+# Install torch and torchvision
+# See https://pytorch.org/ for other options if you use a different version of CUDA
+RUN pip install --user torch==1.6 torchvision==0.7.0 -f https://download.pytorch.org/whl/cu102/torch_stable.html
+
+# Install python packages
+RUN PIP_INSTALL="python -m pip --no-cache-dir install" && \
+    $PIP_INSTALL tensorboardX easydict pyyaml scikit-image tqdm SharedArray six
+
+WORKDIR /root
+
+# Install Boost geometry
+RUN wget https://jaist.dl.sourceforge.net/project/boost/boost/1.68.0/boost_1_68_0.tar.gz && \
+    tar xzvf boost_1_68_0.tar.gz && \
+    cp -r ./boost_1_68_0/boost /usr/include && \
+    rm -rf ./boost_1_68_0 && \
+    rm -rf ./boost_1_68_0.tar.gz 
+
+# A weired problem that hasn't been solved yet
+RUN pip uninstall -y SharedArray && \
+    pip install SharedArray
+
+RUN pip install spconv-cu102
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docker/README.md

+# Guidance to use OpenPCDet with docker
+
+You can either build the docker image through Dockerfile or pull the docker image from dockerhub. Please make sure nvidia-docker is corretly installed.
+
+## Build Through Dockerfile
+Build docker image that support OpenPCDet through:
+```shell script
+docker build ./ -t openpcdet-docker
+```
+Note that if you would like to use dynamic voxelization, you need further install [`torch_scatter`](https://github.com/rusty1s/pytorch_scatter) package. 
+
+From this Dockerfile, the installed version of spconv is 2.x, if you would like to use spconv 1.2.1, please follow these steps:
+```shell script
+git clone -b v1.2.1 https://github.com/djiajunustc/spconv spconv --recursive
+cd spconv
+python setup.py bdist_wheel
+cd ./dist
+pip install *.whl
+```
+
+## Pull From Dockerhub
+Run the following script to pull the docker image:
+```shell script
+docker pull djiajun1206/pcdet:pytorch.16
+```
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