chore: update docker image

Dockerfile

@@ -1,47 +1,78 @@
-FROM nvidia/cuda:12.4.1-cudnn-devel-ubuntu22.04 AS builder
+FROM nvidia/cuda:12.9.1-devel-ubuntu24.04 AS builder
 
 WORKDIR /workspace
 
 ENV DEBIAN_FRONTEND=noninteractive
 
+ENV PYTHON_VERSION=3.13.12
+
 # needed to install the CUDA version of PyTorch3D
 # see https://github.com/facebookresearch/pytorch3d/blob/main/INSTALL.md
 # see https://github.com/pytorch/extension-cpp/issues/71
 ENV FORCE_CUDA=1
 ENV TORCH_CUDA_ARCH_LIST="5.0;6.0;6.1;7.0;7.5;8.0;8.6+PTX"
 
-RUN apt-get update && apt-get install -y --no-install-recommends git lsb-release software-properties-common wget
+RUN apt-get update && apt-get upgrade -y && apt-get install -y --no-install-recommends \
+    curl \
+    git \
+    g++ \
+    gnupg \
+    libatomic1 \
+    libegl1 \
+    libbz2-dev \
+    libffi-dev \
+    libgl1 \
+    libgomp1 \
+    liblzma-dev \
+    lsb-release \
+    libssl-dev \
+    libx11-xcb1 \
+    make \
+    software-properties-common \
+    tzdata \
+    unzip \
+    wget \
+    zlib1g-dev \
+    && rm -rf /var/lib/apt/lists/*
 
 ######################## Python installation #########################
 
-RUN apt-get install -y --no-install-recommends python3.11-dev python3.11-distutils python3.11-venv
+# Download Python source code from official site and build it
+RUN wget https://www.python.org/ftp/python/$PYTHON_VERSION/Python-$PYTHON_VERSION.tgz && \
+    tar -zxvf Python-$PYTHON_VERSION.tgz && \
+    cd Python-$PYTHON_VERSION && \
+    ./configure --enable-optimizations && make && make install && \
+    cd .. && \
+    rm Python-$PYTHON_VERSION.tgz && \
+    rm -r Python-$PYTHON_VERSION
+
 RUN wget https://bootstrap.pypa.io/get-pip.py -O get-pip.py
-RUN python3.11 get-pip.py && python3.11 -m pip install --upgrade pip
 
 #################### Create Virtual Environment ######################
 
 ENV VIRTUAL_ENV=/workspace/venv
-RUN python3.11 -m venv $VIRTUAL_ENV
+RUN python3.13 -m venv $VIRTUAL_ENV
 
 # by adding the venv to the search path, we avoid activating it in each command
 # see https://pythonspeed.com/articles/activate-virtualenv-dockerfile/
 ENV PATH="$VIRTUAL_ENV/bin:$PATH"
 
+# install pip into venv
+RUN python get-pip.py && python -m pip install --upgrade pip
+
 ######## Install PyTorch and packages that depend on PyTorch #########
 
 # these packages are dependencies of the other packages but not listed in their requirements
 # therefore, they have to be installed manually
 RUN python -m pip install tensorboard yapf wheel packaging
-RUN python -m pip install torch==2.4.1 torchvision==0.19.1 torchaudio==2.4.1 --index-url https://download.pytorch.org/whl/cu124
-RUN python -m pip install torch-scatter==2.1.2 -f https://data.pyg.org/whl/torch-2.4.1+cu124.html
-RUN python -m pip install torch-cluster==1.6.3 -f https://data.pyg.org/whl/torch-2.4.1+cu124.html
-RUN python -m pip install "git+https://github.com/facebookresearch/pytorch3d.git@stable"
+RUN python -m pip install torch==2.10.0 torchvision==0.25.0 torchaudio==2.10.0 --index-url https://download.pytorch.org/whl/cu129
+RUN python -m pip install torch-scatter torch-cluster -f https://data.pyg.org/whl/torch-2.10.0+cu128.html
+RUN python -m pip install --no-build-isolation "git+https://github.com/facebookresearch/pytorch3d.git@stable"
 RUN python -m pip install spconv-cu124
-RUN python -m pip install flash-attn --no-build-isolation
-RUN python -m pip install --extra-index-url=https://pypi.nvidia.com "cuml-cu12==25.6.*"
+RUN pip install https://github.com/mjun0812/flash-attention-prebuild-wheels/releases/download/v0.7.16/flash_attn-2.8.3%2Bcu128torch2.10-cp313-cp313-linux_x86_64.whl
+RUN python -m pip install --extra-index-url=https://pypi.nvidia.com "cuml-cu12==26.2.*"
 
 # ######################## Open3D build #################################
-
 RUN git clone https://github.com/isl-org/Open3D
 RUN git clone https://github.com/isl-org/Open3D-ML.git
 
@@ -59,12 +90,12 @@ RUN apt update && apt install kitware-archive-keyring && rm /etc/apt/trusted.gpg
 RUN mkdir /workspace/Open3D/build && cd /workspace/Open3D/build && \
     cmake -DPYTHON3_INCLUDE_DIR=$(python -c "import sysconfig && print(sysconfig.get_path('include'))") \
           -DPYTHON3_LIBRARY=$(python -c "import sysconfig && print(sysconfig.get_config_var('LIBDIR'))") \
-          -DBUILD_CUDA_MODULE=OFF -DGLIBCXX_USE_CXX11_ABI=OFF -DBUILD_PYTORCH_OPS=ON -DBUILD_TENSORFLOW_OPS=OFF \
+          -DBUILD_CUDA_MODULE=OFF -DGLIBCXX_USE_CXX11_ABI=ON -DBUILD_PYTORCH_OPS=ON -DBUILD_TENSORFLOW_OPS=OFF \
           -DBUNDLE_OPEN3D_ML=ON -DOPEN3D_ML_ROOT=/workspace/Open3D-ML .. && \
     make -j$(nproc) && \
     cmake -DPYTHON3_INCLUDE_DIR=$(python -c "import sysconfig && print(sysconfig.get_path('include'))") \
           -DPYTHON3_LIBRARY=$(python -c "import sysconfig && print(sysconfig.get_config_var('LIBDIR'))") \
-          -DBUILD_CUDA_MODULE=ON -DGLIBCXX_USE_CXX11_ABI=OFF -DBUILD_PYTORCH_OPS=ON -DBUILD_TENSORFLOW_OPS=OFF \
+          -DBUILD_CUDA_MODULE=ON -DGLIBCXX_USE_CXX11_ABI=ON -DBUILD_PYTORCH_OPS=ON -DBUILD_TENSORFLOW_OPS=OFF \
           -DBUNDLE_OPEN3D_ML=ON -DOPEN3D_ML_ROOT=/workspace/Open3D-ML .. && \
     make -j$(nproc) && \
     make install-pip-package
@@ -76,21 +107,36 @@ RUN python -m pip uninstall -y yapf wheel packaging
 ######################### Target Image #############################
 ####################################################################
 
-FROM nvidia/cuda:12.4.1-cudnn-runtime-ubuntu22.04
+FROM nvidia/cuda:12.9.1-runtime-ubuntu24.04
 
 ENV DEBIAN_FRONTEND=noninteractive
 
-WORKDIR /workspace
+ENV PYTHON_VERSION=3.13.12
 
-# include packages needed for the rclone installation / as runtime dependencies of Open3D
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    curl git gnupg make unzip libegl1 libgl1 libgomp1 libx11-xcb1 libatomic1 g++
-
-######################## Python installation ########################
+WORKDIR /workspace
 
-RUN apt-get update && apt-get install -y --no-install-recommends wget python3.11-dev python3.11-distutils python3.11-venv
-RUN wget https://bootstrap.pypa.io/get-pip.py -O get-pip.py
-RUN python3.11 get-pip.py && python3.11 -m pip install --upgrade pip
+RUN apt-get update && apt-get upgrade -y && apt-get install -y --no-install-recommends \
+    curl \
+    git \
+    g++ \
+    gnupg \
+    libatomic1 \
+    libegl1 \
+    libbz2-dev \
+    libffi-dev \
+    libgl1 \
+    libgomp1 \
+    liblzma-dev \
+    lsb-release \
+    libssl-dev \
+    libx11-xcb1 \
+    make \
+    software-properties-common \
+    tzdata \
+    unzip \
+    wget \
+    zlib1g-dev \
+    && rm -rf /var/lib/apt/lists/*
 
 ######################## Rclone installation ########################
 
@@ -109,6 +155,11 @@ COPY --from=builder /usr/lib/x86_64-linux-gnu/libGL.so.1 /usr/lib/x86_64-linux-g
 COPY --from=builder /usr/lib/x86_64-linux-gnu/libGLdispatch.so.0 /usr/lib/x86_64-linux-gnu/libGLdispatch.so.0
 COPY --from=builder /usr/lib/x86_64-linux-gnu/libGLX.so.0 /usr/lib/x86_64-linux-gnu/libGLX.so.0
 
+# copy python installation to avoid building python twice
+COPY --from=builder /usr/local/bin/python3.13 /usr/local/bin/python3.13
+COPY --from=builder /usr/local/lib/python3.13 /usr/local/lib/python3.13
+COPY --from=builder /usr/local/include/python3.13 /usr/local/include/python3.13
+
 RUN mkdir pointtorch
 ADD . pointtorch
-RUN python -m pip install ./pointtorch[dev,docs]
+RUN python -m pip install ./pointtorch[dev,docs]