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docker/Dockerfile.dev.gpu

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+# 开发镜像（GPU）：Ubuntu 22.04 + CUDA 12.1 runtime + Node 22 + cadquery + PyTorch(cu121) + PyTorch3D
+# 用于装配检测「最近零件」服务端 GPU（scripts/assembly_nearest_gpu.py）
+# 宿主机需：NVIDIA 驱动 + nvidia-container-toolkit；构建不要求 GPU，运行需 --gpus
+#
+# 构建：docker build -t massive-point-cloud-app-dev:local -f docker/Dockerfile.dev.gpu .
+#
+# 无 NVIDIA 的机器请改用 docker/Dockerfile.dev（仅 CPU），compose 中去掉 gpus 与 ASSEMBLY_USE_GPU
+
+FROM nvidia/cuda:12.1.1-cudnn8-runtime-ubuntu22.04
+
+ENV DEBIAN_FRONTEND=noninteractive \
+    PYTHON3_PATH=/usr/bin/python3 \
+    ASSEMBLY_USE_GPU=1 \
+    NVIDIA_VISIBLE_DEVICES=all \
+    NVIDIA_DRIVER_CAPABILITIES=compute,utility
+
+# apt 换阿里云（国内构建加速）；需官方源时可在下方注释掉本段
+RUN set -eux; \
+    if [ -f /etc/apt/sources.list ]; then \
+      sed -i 's|http://archive.ubuntu.com/ubuntu|http://mirrors.aliyun.com/ubuntu|g' /etc/apt/sources.list; \
+      sed -i 's|http://security.ubuntu.com/ubuntu|http://mirrors.aliyun.com/ubuntu|g' /etc/apt/sources.list; \
+    fi
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    python3 \
+    python3-pip \
+    python3-dev \
+    ca-certificates \
+    curl \
+    gnupg \
+    libgl1 \
+    libglib2.0-0 \
+    libxrender1 \
+    libxext6 \
+    libsm6 \
+    libice6 \
+    libx11-6 \
+    && rm -rf /var/lib/apt/lists/*
+
+# CUDA runtime 镜像默认不带 nvidia-smi；装 Ubuntu 的 nvidia-utils（主版本与宿主机驱动大版本一致，如 535/550）
+# 构建失败时改：--build-arg NVIDIA_UTILS_MAJOR=550
+ARG NVIDIA_UTILS_MAJOR=535
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    "nvidia-utils-${NVIDIA_UTILS_MAJOR}" \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p /etc/apt/keyrings \
+    && curl -fsSL https://deb.nodesource.com/gpgkey/nodesource-repo.gpg.key | gpg --dearmor -o /etc/apt/keyrings/nodesource.gpg \
+    && echo "deb [signed-by=/etc/apt/keyrings/nodesource.gpg] https://deb.nodesource.com/node_22.x nodistro main" > /etc/apt/sources.list.d/nodesource.list \
+    && apt-get update && apt-get install -y --no-install-recommends nodejs \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN python3 -m pip install --no-cache-dir --upgrade pip setuptools wheel
+
+# cadquery（与 Dockerfile.dev 一致）
+ARG PIP_INDEX_URL=https://pypi.tuna.tsinghua.edu.cn/simple
+ARG PIP_DEFAULT_TIMEOUT=300
+COPY requirements-geometry.txt /tmp/requirements-geometry.txt
+RUN python3 -m pip install --no-cache-dir --break-system-packages \
+    --default-timeout="${PIP_DEFAULT_TIMEOUT}" \
+    --retries 10 \
+    -i "${PIP_INDEX_URL}" \
+    -r /tmp/requirements-geometry.txt \
+    && rm /tmp/requirements-geometry.txt \
+    && python3 -c "import cadquery; print('cadquery OK')"
+
+# PyTorch CUDA 12.1：默认清华镜像；覆盖示例：--build-arg TORCH_INDEX_URL=https://download.pytorch.org/whl/cu121
+ARG TORCH_INDEX_URL=https://mirrors.tuna.tsinghua.edu.cn/pytorch/whl/cu121
+RUN python3 -m pip install --no-cache-dir --break-system-packages \
+    --default-timeout=300 --retries 10 \
+    torch==2.3.1 torchvision==0.18.1 \
+    --index-url "${TORCH_INDEX_URL}"
+
+# PyTorch3D 预编译轮仅 Meta 官方 CDN，无稳定国内镜像；加大超时。可本地下载 wheel 后 COPY + pip install。
+RUN python3 -m pip install --no-cache-dir --break-system-packages \
+    --default-timeout=300 --retries 10 \
+    -i https://pypi.tuna.tsinghua.edu.cn/simple \
+    trimesh \
+    && python3 -m pip install --no-cache-dir --break-system-packages \
+    --default-timeout=600 --retries 15 \
+    pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py310_cu121_pyt231/download.html
+
+RUN python3 -c "import torch; import pytorch3d; import trimesh; print('pytorch', torch.__version__, 'pytorch3d', pytorch3d.__version__)"
+
+WORKDIR /app
+
+RUN corepack enable && corepack prepare pnpm@latest --activate
+
+CMD ["node", "-e", "console.log('use docker-compose command')"]