From 92634d152513f1acc8f878421fe17b7c9781b936 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 2 Jun 2020 16:33:57 -0500
Subject: [PATCH] improve and modernize the Dockerfiles

---
 docker/ubuntu-boost-tbb/Dockerfile        |  9 +++++++--
 docker/ubuntu-gtsam-python-vnc/Dockerfile |  8 +++++---
 docker/ubuntu-gtsam-python/Dockerfile     | 12 +++++++-----
 docker/ubuntu-gtsam/Dockerfile            | 11 ++++++-----
 4 files changed, 25 insertions(+), 15 deletions(-)

diff --git a/docker/ubuntu-boost-tbb/Dockerfile b/docker/ubuntu-boost-tbb/Dockerfile
index 6dd9dfa62..9f6eea3b8 100644
--- a/docker/ubuntu-boost-tbb/Dockerfile
+++ b/docker/ubuntu-boost-tbb/Dockerfile
@@ -1,11 +1,16 @@
+# Basic Ubuntu 18.04 image with Boost and TBB installed. To be used for building further downstream packages.
+
 # Get the base Ubuntu image from Docker Hub
 FROM ubuntu:bionic
 
+# Disable GUI prompts
+ENV DEBIAN_FRONTEND noninteractive
+
 # Update apps on the base image
-RUN apt-get -y update && apt install -y
+RUN apt-get -y update && apt-get -y install
 
 # Install C++
-RUN apt-get -y install build-essential 
+RUN apt-get -y install build-essential  apt-utils
 
 # Install boost and cmake
 RUN apt-get -y install libboost-all-dev cmake
diff --git a/docker/ubuntu-gtsam-python-vnc/Dockerfile b/docker/ubuntu-gtsam-python-vnc/Dockerfile
index 83222881a..8b6b97f46 100644
--- a/docker/ubuntu-gtsam-python-vnc/Dockerfile
+++ b/docker/ubuntu-gtsam-python-vnc/Dockerfile
@@ -1,16 +1,18 @@
+# This GTSAM image connects to the host X-server via VNC to provide a Graphical User Interface for interaction.
+
 # Get the base Ubuntu/GTSAM image from Docker Hub
 FROM dellaert/ubuntu-gtsam-python:bionic
 
 # Things needed to get a python GUI
 ENV DEBIAN_FRONTEND noninteractive
-RUN apt-get install -y python-tk
+RUN apt install -y python-tk
 RUN pip install matplotlib
 
 # Install a VNC X-server, Frame buffer, and windows manager
-RUN apt-get install -y x11vnc xvfb fluxbox
+RUN apt install -y x11vnc xvfb fluxbox
 
 # Finally, install wmctrl needed for bootstrap script
-RUN apt-get install -y wmctrl 
+RUN apt install -y wmctrl 
 
 # Copy bootstrap script and make sure it runs
 COPY bootstrap.sh /
diff --git a/docker/ubuntu-gtsam-python/Dockerfile b/docker/ubuntu-gtsam-python/Dockerfile
index 0c7d131be..a9a9782f4 100644
--- a/docker/ubuntu-gtsam-python/Dockerfile
+++ b/docker/ubuntu-gtsam-python/Dockerfile
@@ -1,29 +1,31 @@
+#  GTSAM Ubuntu image with Python wrapper support.
+
 # Get the base Ubuntu/GTSAM image from Docker Hub
-FROM dellaert/ubuntu-gtsam:bionic
+FROM dellaert/ubuntu-gtsam:latest
 
 # Install pip
-RUN apt-get install -y python-pip python-dev
+RUN apt-get install -y python3-pip python3-dev
 
 # Install python wrapper requirements
-RUN pip install -r /usr/src/gtsam/cython/requirements.txt
+RUN pip3 install -U -r /usr/src/gtsam/cython/requirements.txt
 
 # Run cmake again, now with cython toolbox on
 WORKDIR /usr/src/gtsam/build
 RUN cmake \
     -DCMAKE_BUILD_TYPE=Release \
-    -DGTSAM_USE_SYSTEM_EIGEN=ON \
     -DGTSAM_WITH_EIGEN_MKL=OFF \
     -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
     -DGTSAM_BUILD_TIMING_ALWAYS=OFF \
     -DGTSAM_BUILD_TESTS=OFF \
     -DGTSAM_INSTALL_CYTHON_TOOLBOX=ON \
+    -DGTSAM_PYTHON_VERSION=3\
     ..
 
 # Build again, as ubuntu-gtsam image cleaned
 RUN make -j3 install && make clean
 
 # Needed to run python wrapper:
-RUN echo 'export PYTHONPATH=/usr/local/cython/' >> /root/.bashrc 
+RUN echo 'export PYTHONPATH=/usr/local/cython/:$PYTHONPATH' >> /root/.bashrc 
 
 # Run bash
 CMD ["bash"]
diff --git a/docker/ubuntu-gtsam/Dockerfile b/docker/ubuntu-gtsam/Dockerfile
index bdfa8d9a5..c09d4b16a 100644
--- a/docker/ubuntu-gtsam/Dockerfile
+++ b/docker/ubuntu-gtsam/Dockerfile
@@ -1,5 +1,7 @@
+# Ubuntu image with GTSAM installed. Configured with  Boost and TBB support.
+
 # Get the base Ubuntu image from Docker Hub
-FROM dellaert/ubuntu-boost-tbb-eigen3:bionic
+FROM dellaert/ubuntu-boost-tbb:latest
 
 # Install git
 RUN apt-get update && \ 
@@ -11,13 +13,12 @@ RUN apt-get install -y build-essential
 # Clone GTSAM
 WORKDIR /usr/src/
 RUN git clone https://bitbucket.org/gtborg/gtsam.git
+RUN mkdir build
 
 # Run cmake
-RUN mkdir /usr/src/gtsam/build
 WORKDIR /usr/src/gtsam/build
 RUN cmake \
     -DCMAKE_BUILD_TYPE=Release \
-    -DGTSAM_USE_SYSTEM_EIGEN=ON \
     -DGTSAM_WITH_EIGEN_MKL=OFF \
     -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
     -DGTSAM_BUILD_TIMING_ALWAYS=OFF \
@@ -26,10 +27,10 @@ RUN cmake \
     ..
 
 # Build
-RUN make -j3 install && make clean
+RUN make -j4 install && make clean
 
 # Needed to link with GTSAM
-RUN echo 'export LD_LIBRARY_PATH=/usr/local/lib' >> /root/.bashrc 
+RUN echo 'export LD_LIBRARY_PATH=/usr/local/lib:LD_LIBRARY_PATH' >> /root/.bashrc 
 
 # Run bash
 CMD ["bash"]