Merge pull request #241 from borglab/feature/docker

RFC: Adding a number of docker images

docker/README.md

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+# Instructions
+
+Build all docker images, in order:
+
+```bash
+(cd ubuntu-boost-tbb && ./build.sh)
+(cd ubuntu-gtsam && ./build.sh)
+(cd ubuntu-gtsam-python && ./build.sh)
+(cd ubuntu-gtsam-python-vnc && ./build.sh)
+```
+
+Then launch with: 
+
+    docker run -p 5900:5900 dellaert/ubuntu-gtsam-python-vnc:bionic
+
+Then open a remote VNC X client, for example:
+
+    sudo apt-get install tigervnc-viewer
+    xtigervncviewer :5900
+
+

docker/ubuntu-boost-tbb-eigen3/Dockerfile

@@ -1,18 +0,0 @@
-# Get the base Ubuntu image from Docker Hub
-FROM ubuntu:bionic
-
-# Update apps on the base image
-RUN apt-get -y update && apt-get install -y
-
-# Install C++
-RUN apt-get -y install build-essential 
-
-# Install boost and cmake
-RUN apt-get -y install libboost-all-dev cmake
-
-# Install TBB
-RUN apt-get -y install libtbb-dev
-
-# Install latest Eigen
-RUN apt-get install -y libeigen3-dev
-

docker/ubuntu-boost-tbb/Dockerfile

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+# 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-get -y install
+
+# Install C++
+RUN apt-get -y install build-essential  apt-utils
+
+# Install boost and cmake
+RUN apt-get -y install libboost-all-dev cmake
+
+# Install TBB
+RUN apt-get -y install libtbb-dev

docker/ubuntu-boost-tbb/build.sh

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+# Build command for Docker image
+# TODO(dellaert): use docker compose and/or cmake
+docker build --no-cache -t dellaert/ubuntu-boost-tbb:bionic .

docker/ubuntu-gtsam-python-vnc/Dockerfile

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+# 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 install -y python-tk
+RUN python3 -m pip install matplotlib
+
+# Install a VNC X-server, Frame buffer, and windows manager
+RUN apt install -y x11vnc xvfb fluxbox
+
+# Finally, install wmctrl needed for bootstrap script
+RUN apt install -y wmctrl
+
+# Copy bootstrap script and make sure it runs
+COPY bootstrap.sh /
+
+CMD '/bootstrap.sh'

docker/ubuntu-gtsam-python-vnc/bootstrap.sh

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+#!/bin/bash
+
+# Based on: http://www.richud.com/wiki/Ubuntu_Fluxbox_GUI_with_x11vnc_and_Xvfb
+
+main() {
+    log_i "Starting xvfb virtual display..."
+    launch_xvfb
+    log_i "Starting window manager..."
+    launch_window_manager
+    log_i "Starting VNC server..."
+    run_vnc_server
+}
+
+launch_xvfb() {
+    local xvfbLockFilePath="/tmp/.X1-lock"
+    if [ -f "${xvfbLockFilePath}" ]
+    then
+        log_i "Removing xvfb lock file '${xvfbLockFilePath}'..."
+        if ! rm -v "${xvfbLockFilePath}"
+        then
+            log_e "Failed to remove xvfb lock file"
+            exit 1
+        fi
+    fi
+
+    # Set defaults if the user did not specify envs.
+    export DISPLAY=${XVFB_DISPLAY:-:1}
+    local screen=${XVFB_SCREEN:-0}
+    local resolution=${XVFB_RESOLUTION:-1280x960x24}
+    local timeout=${XVFB_TIMEOUT:-5}
+
+    # Start and wait for either Xvfb to be fully up or we hit the timeout.
+    Xvfb ${DISPLAY} -screen ${screen} ${resolution} &
+    local loopCount=0
+    until xdpyinfo -display ${DISPLAY} > /dev/null 2>&1
+    do
+        loopCount=$((loopCount+1))
+        sleep 1
+        if [ ${loopCount} -gt ${timeout} ]
+        then
+            log_e "xvfb failed to start"
+            exit 1
+        fi
+    done
+}
+
+launch_window_manager() {
+    local timeout=${XVFB_TIMEOUT:-5}
+
+    # Start and wait for either fluxbox to be fully up or we hit the timeout.
+    fluxbox &
+    local loopCount=0
+    until wmctrl -m > /dev/null 2>&1
+    do
+        loopCount=$((loopCount+1))
+        sleep 1
+        if [ ${loopCount} -gt ${timeout} ]
+        then
+            log_e "fluxbox failed to start"
+            exit 1
+        fi
+    done
+}
+
+run_vnc_server() {
+    local passwordArgument='-nopw'
+
+    if [ -n "${VNC_SERVER_PASSWORD}" ]
+    then
+        local passwordFilePath="${HOME}/.x11vnc.pass"
+        if ! x11vnc -storepasswd "${VNC_SERVER_PASSWORD}" "${passwordFilePath}"
+        then
+            log_e "Failed to store x11vnc password"
+            exit 1
+        fi
+        passwordArgument=-"-rfbauth ${passwordFilePath}"
+        log_i "The VNC server will ask for a password"
+    else
+        log_w "The VNC server will NOT ask for a password"
+    fi
+
+    x11vnc -ncache 10 -ncache_cr -display ${DISPLAY} -forever ${passwordArgument} &
+    wait $!
+}
+
+log_i() {
+    log "[INFO] ${@}"
+}
+
+log_w() {
+    log "[WARN] ${@}"
+}
+
+log_e() {
+    log "[ERROR] ${@}"
+}
+
+log() {
+    echo "[$(date '+%Y-%m-%d %H:%M:%S')] ${@}"
+}
+
+control_c() {
+    echo ""
+    exit
+}
+
+trap control_c SIGINT SIGTERM SIGHUP
+
+main
+
+exit

docker/ubuntu-gtsam-python-vnc/build.sh

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+# Build command for Docker image
+# TODO(dellaert): use docker compose and/or cmake
+# Needs to be run in docker/ubuntu-gtsam-python-vnc directory
+docker build -t dellaert/ubuntu-gtsam-python-vnc:bionic .

docker/ubuntu-gtsam-python-vnc/vnc.sh

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+# After running this script, connect VNC client to 0.0.0.0:5900
+docker run -it \
+    --workdir="/usr/src/gtsam" \
+    -p 5900:5900 \
+    dellaert/ubuntu-gtsam-python-vnc:bionic

docker/ubuntu-gtsam-python/Dockerfile

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+#  GTSAM Ubuntu image with Python wrapper support.
+
+# Get the base Ubuntu/GTSAM image from Docker Hub
+FROM dellaert/ubuntu-gtsam:bionic
+
+# Install pip
+RUN apt-get install -y python3-pip python3-dev
+
+# Install python wrapper requirements
+RUN python3 -m pip 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_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 -j4 install && make clean
+
+# Needed to run python wrapper:
+RUN echo 'export PYTHONPATH=/usr/local/cython/:$PYTHONPATH' >> /root/.bashrc
+
+# Run bash
+CMD ["bash"]

docker/ubuntu-gtsam-python/build.sh

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+# Build command for Docker image
+# TODO(dellaert): use docker compose and/or cmake
+docker build --no-cache -t dellaert/ubuntu-gtsam-python:bionic .

docker/ubuntu-gtsam/Dockerfile

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+# Ubuntu image with GTSAM installed. Configured with  Boost and TBB support.
+
+# Get the base Ubuntu image from Docker Hub
+FROM dellaert/ubuntu-boost-tbb:bionic
+
+# Install git
+RUN apt-get update && \
+    apt-get install -y git
+
+# Install compiler
+RUN apt-get install -y build-essential
+
+# Clone GTSAM (develop branch)
+WORKDIR /usr/src/
+RUN git clone --single-branch --branch develop https://github.com/borglab/gtsam.git
+
+# Change to build directory. Will be created automatically.
+WORKDIR /usr/src/gtsam/build
+# Run cmake
+RUN cmake \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DGTSAM_WITH_EIGEN_MKL=OFF \
+    -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
+    -DGTSAM_BUILD_TIMING_ALWAYS=OFF \
+    -DGTSAM_BUILD_TESTS=OFF \
+    -DGTSAM_INSTALL_CYTHON_TOOLBOX=OFF \
+    ..
+
+# Build
+RUN make -j4 install && make clean
+
+# Needed to link with GTSAM
+RUN echo 'export LD_LIBRARY_PATH=/usr/local/lib:LD_LIBRARY_PATH' >> /root/.bashrc
+
+# Run bash
+CMD ["bash"]

docker/ubuntu-gtsam/build.sh

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+# Build command for Docker image
+# TODO(dellaert): use docker compose and/or cmake
+docker build --no-cache -t dellaert/ubuntu-gtsam:bionic .