ARG UBUNTU_VERSION=24.04
ARG NVIDIA_CUDA_VERSION=12.9.1

#
# Docker builder stage.
#
FROM nvidia/cuda:${NVIDIA_CUDA_VERSION}-devel-ubuntu${UBUNTU_VERSION} AS builder

ARG COLMAP_GIT_COMMIT=main
ARG CUDA_ARCHITECTURES=86
ENV QT_XCB_GL_INTEGRATION=xcb_egl

# Prevent stop building ubuntu at time zone selection.
ENV DEBIAN_FRONTEND=noninteractive

# Prepare and empty machine for building.
RUN apt-get update && \
    apt-get install -y \
        git \
        cmake \
        ninja-build \
        build-essential \
        libboost-program-options-dev \
        libboost-graph-dev \
        libboost-system-dev \
        libeigen3-dev \
        libopenimageio-dev \
        openimageio-tools \
        libmetis-dev \
        libgoogle-glog-dev \
        libgtest-dev \
        libgmock-dev \
        libsqlite3-dev \
        libglew-dev \
        qt6-base-dev \
        libqt6opengl6-dev \
        libqt6openglwidgets6 \
        libcgal-dev \
        libcurl4-openssl-dev \
        libssl-dev \
        libmkl-full-dev \
        libsuitesparse-dev \
        libcudss0-dev-cuda-12 \
        libcudss0-static-cuda-12

# Install Ceres Solver with CUDA support. Disable testing and examples since
# the GPU isn't available to us at build time
RUN git clone --recursive https://github.com/ceres-solver/ceres-solver
RUN mkdir ceres-bin && \
    cd ceres-bin && \
    cmake ../ceres-solver \
        -DUSE_CUDA=ON \
        -DCMAKE_CUDA_ARCHITECTURES=${CUDA_ARCHITECTURES} \
        -DBUILD_TESTING=OFF \
        -DBUILD_EXAMPLES=OFF \
        -DCMAKE_BUILD_TYPE=Release \
        -Dcudss_DIR=/usr/lib/x86_64-linux-gnu/libcudss/12/cmake/cudss \
        -Dcudss_INCLUDE_DIR=/usr/include/libcudss/12 && \
    make -j8 && \
    make test && \
    make install

# Fix issue in Ubuntu's openimageio CMake config.
# We don't depend on any of openimageio's OpenCV functionality,
# but it still requires the OpenCV include directory to exist.
RUN mkdir -p /usr/include/opencv4

# Build and install COLMAP.
RUN git clone --recursive https://github.com/colmap/colmap.git
RUN cd colmap && \
    git fetch https://github.com/colmap/colmap.git ${COLMAP_GIT_COMMIT} && \
    git checkout FETCH_HEAD && \
    mkdir build && \
    cd build && \
    cmake .. \
        -GNinja \
        -DCMAKE_CUDA_ARCHITECTURES=${CUDA_ARCHITECTURES} \
        -DCMAKE_INSTALL_PREFIX=/colmap-install \
        -DBLA_VENDOR=Intel10_64lp \
        -Dcudss_DIR=/usr/lib/x86_64-linux-gnu/libcudss/12/cmake/cudss \
        -Dcudss_INCLUDE_DIR=/usr/include/libcudss/12 && \
    ninja install

#
# Docker runtime stage.
#
FROM nvidia/cuda:${NVIDIA_CUDA_VERSION}-runtime-ubuntu${UBUNTU_VERSION} AS runtime

# Minimal dependencies to run COLMAP binary compiled in the builder stage.
# Note: this reduces the size of the final image considerably, since all the
# build dependencies are not needed.
RUN apt-get update && \
    apt-get install -y --no-install-recommends --no-install-suggests \
        libboost-program-options1.83.0 \
        libspqr4 \
        libcholmod5 \
        libc6 \
        libomp5 \
        libopengl0 \
        libmetis5 \
        libopenimageio2.4t64 \
        libgcc-s1 \
        libgl1 \
        libglew2.2 \
        libgoogle-glog0v6t64 \
        libqt6core6 \
        libqt6gui6 \
        libqt6widgets6 \
        libqt6openglwidgets6 \
        libcurl4 \
        libssl3t64 \
        libmkl-locale \
        libmkl-intel-lp64 \
        libmkl-intel-thread \
        libmkl-core \
        libcudss0-cuda-12 && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# Copy all files from /colmap-install/ in the builder stage to /usr/local/ in
# the runtime stage. This simulates installing COLMAP in the default location
# (/usr/local/), which simplifies environment variables. It also allows the user
# of this Docker image to use it as a base image for compiling against COLMAP as
# a library. For instance, CMake will be able to find COLMAP easily with the
# command: find_package(COLMAP REQUIRED).
COPY --from=builder /colmap-install/ /usr/local/
COPY --from=builder /usr/local/include/ /usr/local/include/
COPY --from=builder /usr/local/lib/ /usr/local/lib/
COPY --from=builder /usr/lib/x86_64-linux-gnu/libcudss /usr/lib/x86_64-linux-gnu/libcudss

ENV LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu/libcudss/12:$LD_LIBRARY_PATH
WORKDIR /workspace