From c1f9bc258bb62d1a9afdd96a5840f32abad06eb4 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 28 Oct 2018 17:34:41 -0400 Subject: [PATCH] Added a number of docker images --- docker/ubuntu-gtsam-python-vnc/Dockerfile | 18 ++++ docker/ubuntu-gtsam-python-vnc/bootstrap.sh | 111 ++++++++++++++++++++ docker/ubuntu-gtsam-python-vnc/build.sh | 4 + docker/ubuntu-gtsam-python-vnc/vnc.sh | 5 + docker/ubuntu-gtsam-python/Dockerfile | 29 +++++ docker/ubuntu-gtsam-python/build.sh | 3 + docker/ubuntu-gtsam/Dockerfile | 35 ++++++ docker/ubuntu-gtsam/build.sh | 3 + 8 files changed, 208 insertions(+) create mode 100644 docker/ubuntu-gtsam-python-vnc/Dockerfile create mode 100755 docker/ubuntu-gtsam-python-vnc/bootstrap.sh create mode 100755 docker/ubuntu-gtsam-python-vnc/build.sh create mode 100755 docker/ubuntu-gtsam-python-vnc/vnc.sh create mode 100644 docker/ubuntu-gtsam-python/Dockerfile create mode 100755 docker/ubuntu-gtsam-python/build.sh create mode 100644 docker/ubuntu-gtsam/Dockerfile create mode 100755 docker/ubuntu-gtsam/build.sh diff --git a/docker/ubuntu-gtsam-python-vnc/Dockerfile b/docker/ubuntu-gtsam-python-vnc/Dockerfile new file mode 100644 index 0000000000..83222881a8 --- /dev/null +++ b/docker/ubuntu-gtsam-python-vnc/Dockerfile @@ -0,0 +1,18 @@ +# 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 pip install matplotlib + +# Install a VNC X-server, Frame buffer, and windows manager +RUN apt-get install -y x11vnc xvfb fluxbox + +# Finally, install wmctrl needed for bootstrap script +RUN apt-get install -y wmctrl + +# Copy bootstrap script and make sure it runs +COPY bootstrap.sh / + +CMD '/bootstrap.sh' diff --git a/docker/ubuntu-gtsam-python-vnc/bootstrap.sh b/docker/ubuntu-gtsam-python-vnc/bootstrap.sh new file mode 100755 index 0000000000..21356138f6 --- /dev/null +++ b/docker/ubuntu-gtsam-python-vnc/bootstrap.sh @@ -0,0 +1,111 @@ +#!/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 diff --git a/docker/ubuntu-gtsam-python-vnc/build.sh b/docker/ubuntu-gtsam-python-vnc/build.sh new file mode 100755 index 0000000000..8d280252f6 --- /dev/null +++ b/docker/ubuntu-gtsam-python-vnc/build.sh @@ -0,0 +1,4 @@ +# 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 . diff --git a/docker/ubuntu-gtsam-python-vnc/vnc.sh b/docker/ubuntu-gtsam-python-vnc/vnc.sh new file mode 100755 index 0000000000..c0ab692c68 --- /dev/null +++ b/docker/ubuntu-gtsam-python-vnc/vnc.sh @@ -0,0 +1,5 @@ +# 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 \ No newline at end of file diff --git a/docker/ubuntu-gtsam-python/Dockerfile b/docker/ubuntu-gtsam-python/Dockerfile new file mode 100644 index 0000000000..0c7d131be5 --- /dev/null +++ b/docker/ubuntu-gtsam-python/Dockerfile @@ -0,0 +1,29 @@ +# Get the base Ubuntu/GTSAM image from Docker Hub +FROM dellaert/ubuntu-gtsam:bionic + +# Install pip +RUN apt-get install -y python-pip python-dev + +# Install python wrapper requirements +RUN pip install -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 \ + .. + +# 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 bash +CMD ["bash"] diff --git a/docker/ubuntu-gtsam-python/build.sh b/docker/ubuntu-gtsam-python/build.sh new file mode 100755 index 0000000000..1696f6c612 --- /dev/null +++ b/docker/ubuntu-gtsam-python/build.sh @@ -0,0 +1,3 @@ +# Build command for Docker image +# TODO(dellaert): use docker compose and/or cmake +docker build --no-cache -t dellaert/ubuntu-gtsam-python:bionic . diff --git a/docker/ubuntu-gtsam/Dockerfile b/docker/ubuntu-gtsam/Dockerfile new file mode 100644 index 0000000000..a19e17e633 --- /dev/null +++ b/docker/ubuntu-gtsam/Dockerfile @@ -0,0 +1,35 @@ +# Get the base Ubuntu image from Docker Hub +FROM dellaert/ubuntu-boost-tbb-eigen3:bionic + +# Install git +RUN apt-get update && \ + apt-get install -y git + +# Install compiler +RUN apt-get install -y build-essential + +# Clone GTSAM +WORKDIR /usr/src/ +RUN git clone https://github.com/borglab/gtsam.git + +# 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 \ + -DGTSAM_BUILD_TESTS=OFF \ + -DGTSAM_INSTALL_CYTHON_TOOLBOX=OFF \ + .. + +# Build +RUN make -j3 install && make clean + +# Needed to link with GTSAM +RUN echo 'export LD_LIBRARY_PATH=/usr/local/lib' >> /root/.bashrc + +# Run bash +CMD ["bash"] diff --git a/docker/ubuntu-gtsam/build.sh b/docker/ubuntu-gtsam/build.sh new file mode 100755 index 0000000000..bf545e9c2b --- /dev/null +++ b/docker/ubuntu-gtsam/build.sh @@ -0,0 +1,3 @@ +# Build command for Docker image +# TODO(dellaert): use docker compose and/or cmake +docker build --no-cache -t dellaert/ubuntu-gtsam:bionic .