# base image off ubuntu image
ARG UBUNTU_TAG=22.04
FROM docker.io/ubuntu:${UBUNTU_TAG}

RUN apt-get update && apt-get install -y --no-install-recommends \
# dependencies
    libboost-all-dev \
# optional dependencies
    libtbb-dev \
    python3-dev \
    python3-pip \
    python3-pyparsing \
    python3-numpy \
# build dependencies
    build-essential \
    cmake \
# download dependencies
    git \
    ca-certificates && \
    rm -rf /var/lib/apt/lists/*

# build flags
ARG GTSAM_GIT_TAG=4.2.0
ARG GTSAM_WITH_TBB=ON
ARG GTSAM_BUILD_PYTHON=ON
ARG CORES=4

# build and install gtsam
RUN mkdir -p /src/github/borglab && cd /src/github/borglab && \
    git clone https://github.com/borglab/gtsam --depth 1 --branch ${GTSAM_GIT_TAG} && \
    cd gtsam && \
    mkdir build && \
    cd build && \
    cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DGTSAM_BUILD_TESTS=OFF \
    -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB} \
    -DGTSAM_BUILD_PYTHON=${GTSAM_BUILD_PYTHON} \
    .. && \
    make -j${CORES} install && \
    if [ "${GTSAM_BUILD_PYTHON}" = "ON" ] ; then \
    make python-install; \
    fi

CMD ["/bin/bash"]