content: #
  # SPDX-FileCopyrightText: Copyright (c) 1993-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
  # SPDX-License-Identifier: Apache-2.0
  #
  # Licensed under the Apache License, Version 2.0 (the "License");
  # you may not use this file except in compliance with the License.
  # You may obtain a copy of the License at
  #
  # http://www.apache.org/licenses/LICENSE-2.0
  #
  # Unless required by applicable law or agreed to in writing, software
  # distributed under the License is distributed on an "AS IS" BASIS,
  # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  # See the License for the specific language governing permissions and
  # limitations under the License.
  #
  
  ARG CUDA_VERSION=11.4.1
  
  # Multi-arch container support available in non-cudnn containers.
  FROM nvidia/cuda:${CUDA_VERSION}-devel-ubuntu20.04
  LABEL maintainer="NVIDIA CORPORATION"
  
  ENV TRT_VERSION 8.5.2
  ENV DEBIAN_FRONTEND=noninteractive
  
  ARG uid=1000
  ARG gid=1000
  RUN groupadd -r -f -g ${gid} trtuser && useradd -o -r -l -u ${uid} -g ${gid} -ms /bin/bash trtuser
  RUN usermod -aG sudo trtuser
  RUN echo 'trtuser:nvidia' | chpasswd
  RUN mkdir -p /workspace && chown trtuser /workspace
  
  # Install requried libraries
  RUN apt-get update && apt-get install -y software-properties-common
  RUN add-apt-repository ppa:ubuntu-toolchain-r/test
  RUN apt-get update && apt-get install -y --no-install-recommends \
      libcurl4-openssl-dev \
      wget \
      git \
      pkg-config \
      python3 \
      python3-pip \
      python3-dev \
      python3-wheel \
      sudo \
      ssh \
      pbzip2 \
      pv \
      bzip2 \
      unzip \
      build-essential
  
  RUN cd /usr/local/bin &&\
      ln -s /usr/bin/python3 python &&\
      ln -s /usr/bin/pip3 pip
  RUN pip3 install --upgrade pip
  RUN pip3 install setuptools>=41.0.0
  
  # Install Cmake
  RUN cd /tmp && \
      wget https://github.com/Kitware/CMake/releases/download/v3.14.4/cmake-3.14.4-Linux-x86_64.sh && \
      chmod +x cmake-3.14.4-Linux-x86_64.sh && \
      ./cmake-3.14.4-Linux-x86_64.sh --prefix=/usr/local --exclude-subdir --skip-license && \
      rm ./cmake-3.14.4-Linux-x86_64.sh
  
  # Skip installing PyPI packages and NGC client on cross-build container
  
  COPY docker/jetpack_files /pdk_files
  COPY scripts/stubify.sh /pdk_files
  
  # Update CUDA signing keys
  RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/3bf863cc.pub
  RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/7fa2af80.pub
  
  # Install CUDA cross compile toolchain
  RUN dpkg -i /pdk_files/cuda-repo-cross-aarch64*.deb /pdk_files/cuda-repo-ubuntu*_amd64.deb \
      && cp /var/cuda-repo-cross*/cuda-*-keyring.gpg /usr/share/keyrings/ \
      && cp /var/cuda-repo-ubuntu*/cuda-*-keyring.gpg /usr/share/keyrings/ \
      && apt-get update \
      && apt-get install -y cuda-cross-aarch64 \
      && rm -rf /var/lib/apt/lists/*
  
  # Unpack cudnn
  RUN  dpkg -x /pdk_files/cudnn-local-tegra-repo*.deb /pdk_files/cudnn_extract \
      && dpkg -x /pdk_files/cudnn_extract/var/cudnn-local-tegra-repo*/libcudnn[7-8]_*-1+cuda11.[0-9]_arm64.deb /pdk_files/cudnn \
      && dpkg -x /pdk_files/cudnn_extract/var/cudnn-local-tegra-repo*/libcudnn[7-8]-dev_*-1+cuda11.[0-9]_arm64.deb /pdk_files/cudnn \
      && cd /pdk_files/cudnn/usr/lib/aarch64-linux-gnu \
      && cd /pdk_files/cudnn \
      && ln -s usr/include/aarch64-linux-gnu include \
      && ln -s usr/lib/aarch64-linux-gnu lib \
      && ln -s /pdk_files/cudnn/usr/include/aarch64-linux-gnu/cudnn_adv_infer_v[7-9].h /usr/include/cudnn_adv_infer.h \
      && ln -s /pdk_files/cudnn/usr/include/aarch64-linux-gnu/cudnn_adv_train_v[7-9].h /usr/include/cudnn_adv_train.h \
      && ln -s /pdk_files/cudnn/usr/include/aarch64-linux-gnu/cudnn_backend_v[7-9].h /usr/include/cudnn_backend.h \
      && ln -s /pdk_files/cudnn/usr/include/aarch64-linux-gnu/cudnn_cnn_infer_v[7-9].h /usr/include/cudnn_cnn_infer.h \
      && ln -s /pdk_files/cudnn/usr/include/aarch64-linux-gnu/cudnn_cnn_train_v[7-9].h /usr/include/cudnn_cnn_train.h \
      && ln -s /pdk_files/cudnn/usr/include/aarch64-linux-gnu/cudnn_ops_infer_v[7-9].h /usr/include/cudnn_ops_infer.h \
      && ln -s /pdk_files/cudnn/usr/include/aarch64-linux-gnu/cudnn_ops_train_v[7-9].h /usr/include/cudnn_ops_train.h \
      && ln -s /pdk_files/cudnn/usr/include/aarch64-linux-gnu/cudnn_v[7-9].h /usr/include/cudnn.h \
      && ln -s /pdk_files/cudnn/usr/include/aarch64-linux-gnu/cudnn_version_v[7-9].h /usr/include/cudnn_version.h
  
  # Unpack libnvinfer
  RUN dpkg -x /pdk_files/nv-tensorrt-local-repo-l4t-[0-8].[0-9].[0-9]-cuda-11.[0-9]_*_arm64.deb /pdk_files/tensorrt
  RUN mv /pdk_files/tensorrt/var/nv-tensorrt-local-repo-l4t-[0-8].[0-9].[0-9]-cuda-11.[0-9]/*.deb /pdk_files
  RUN dpkg -x /pdk_files/libnvinfer[0-8]_*-1+cuda11.[0-9]_arm64.deb /pdk_files/tensorrt \
      && dpkg -x /pdk_files/libnvinfer-dev_*-1+cuda11.[0-9]_arm64.deb /pdk_files/tensorrt \
      && dpkg -x /pdk_files/libnvparsers[6-8]_*-1+cuda11.[0-9]_arm64.deb /pdk_files/tensorrt \
      && dpkg -x /pdk_files/libnvparsers-dev_*-1+cuda11.[0-9]_arm64.deb /pdk_files/tensorrt \
      && dpkg -x /pdk_files/libnvinfer-plugin[6-8]_*-1+cuda11.[0-9]_arm64.deb /pdk_files/tensorrt \
      && dpkg -x /pdk_files/libnvinfer-plugin-dev_*-1+cuda11.[0-9]_arm64.deb /pdk_files/tensorrt \
      && dpkg -x /pdk_files/libnvonnxparsers[6-8]_*-1+cuda11.[0-9]_arm64.deb /pdk_files/tensorrt \
      && dpkg -x /pdk_files/libnvonnxparsers-dev_*-1+cuda11.[0-9]_arm64.deb /pdk_files/tensorrt
  
  # Clean up debs
  RUN rm -rf /pdk_files/*.deb
  
  # create stub libraries
  RUN cd /pdk_files/tensorrt \
      && ln -s usr/include/aarch64-linux-gnu include \
      && ln -s usr/lib/aarch64-linux-gnu lib \
      && cd lib \
      && mkdir stubs \
      && for x in nvinfer nvparsers nvinfer_plugin nvonnxparser; \
         do                                                     \
              CC=aarch64-linux-gnu-gcc /pdk_files/stubify.sh lib${x}.so stubs/lib${x}.so \
         ; done
  
  # Set environment and working directory
  ENV TRT_LIBPATH /pdk_files/tensorrt/lib
  ENV TRT_OSSPATH /workspace/TensorRT
  WORKDIR /workspace
  
  USER trtuser
  RUN ["/bin/bash"]
  