diff --git a/scripts/docker/Dockerfile b/scripts/docker/Dockerfile
index 9e38bf31f..e6f16090b 100644
--- a/scripts/docker/Dockerfile
+++ b/scripts/docker/Dockerfile
@@ -2,53 +2,52 @@ FROM ubuntu:20.04
 LABEL maintainer="mabate@mit.edu"
 
 # To avoid tzdata asking for geographic location...
-ENV DEBIAN_FRONTEND=noninteractive
 
 ENV DIRPATH /root/
 WORKDIR $DIRPATH
 
 RUN apt-get update && apt-get install -y --no-install-recommends apt-utils
-RUN apt-get update && \
-      apt-get install -y \
-      build-essential \
-      cmake \
-      gfortran \
-      git \
-      libatlas-base-dev \
-      libboost-all-dev \
-      libeigen3-dev \
-      libgflags-dev \
-      libgoogle-glog-dev \
-      libmetis-dev \
-      libopencv-dev \
-      libopencv-contrib-dev \
-      libtbb-dev \
-      pkg-config \
-      xvfb \
-      python3 \
-      python3-dev \
-      python3-pip \
-      python3-tk && \
-      apt-get clean && \
-      rm -rf /var/lib/apt/lists/*
 
-RUN git clone https://github.com/borglab/gtsam.git && \
-      cd gtsam && \
-      git checkout 4.2 && \
-      mkdir build && \
-      cd build && \
-      cmake -DCMAKE_INSTALL_PREFIX=/usr/local \
-      -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
-      -DGTSAM_BUILD_TESTS=OFF \
-      -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
-      -DCMAKE_BUILD_TYPE=Release \
-      -DGTSAM_BUILD_UNSTABLE=ON \
-      -DGTSAM_POSE3_EXPMAP=ON \
-      -DGTSAM_ROT3_EXPMAP=ON \
-      -DGTSAM_TANGENT_PREINTEGRATION=OFF \
-      -DGTSAM_USE_SYSTEM_EIGEN=ON \
-      -DGTSAM_USE_SYSTEM_METIS=ON \
-      .. && \
+RUN apt-get update && apt-get install -y git cmake
+
+# Install xvfb to provide a display to container for GUI related testing.
+RUN apt-get update && apt-get install -y xvfb
+
+# Install GTSAM
+RUN apt-get update && apt-get install -y libboost-all-dev libmetis-dev
+ADD https://api.github.com/repos/borglab/gtsam/git/refs/heads/master version.json
+RUN git clone https://github.com/borglab/gtsam.git
+RUN cd gtsam && \
+    git fetch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_INSTALL_PREFIX=/usr/local -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DGTSAM_BUILD_UNSTABLE=ON -DGTSAM_TANGENT_PREINTEGRATION=OFF .. && \
+    make -j$(nproc) install
+
+# Install OpenCV for Ubuntu 18.04
+RUN apt-get update && apt-get install -y \
+      build-essential cmake unzip pkg-config \
+      libjpeg-dev libpng-dev libtiff-dev \
+      libvtk6-dev \
+      libgtk-3-dev \
+      libatlas-base-dev gfortran
+
+RUN git clone https://github.com/opencv/opencv.git
+RUN cd opencv && \
+      git checkout tags/3.3.1 && \
+      mkdir build
+
+RUN git clone https://github.com/opencv/opencv_contrib.git
+RUN cd opencv_contrib && \
+      git checkout tags/3.3.1
+
+RUN cd opencv/build && \
+      cmake -DCMAKE_BUILD_TYPE=Release \
+      -DCMAKE_INSTALL_PREFIX=/usr/local \
+      -D BUILD_opencv_python=OFF \
+      -D BUILD_opencv_python2=OFF \
+      -D BUILD_opencv_python3=OFF \
+      -DOPENCV_EXTRA_MODULES_PATH=$DIRPATH/opencv_contrib/modules .. && \
       make -j$(nproc) install
 
 # Install Open_GV