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README.md

GTSAM Containers

  • container files to build images
  • script to push images to a registry
  • instructions to pull images and run containers

Dependencies

Pull from Docker Hub

Various GTSAM image configurations are available at docker.io/borglab/gtsam. Determine which tag you want and pull the image.

Example for pulling an image with GTSAM compiled with TBB and Python support on top of a base Ubuntu 22.04 image.

docker pull docker.io/borglab/gtsam:4.2.0-tbb-ON-python-ON_22.04

docker.io/borglab/gtsam-vnc is also provided as an image with GTSAM that will run a VNC server to connect to.

Using the images

Just GTSAM

To start the image, execute

docker run -it borglab/gtsam:4.2.0-tbb-ON-python-OFF_22.04

after you will find yourself in a bash shell.

GTSAM with Python wrapper

To use GTSAM via the python wrapper, similarly execute

docker run -it borglab/gtsam:4.2.0-tbb-ON-python-ON_22.04

and then launch python3:

python3
>>> import gtsam
>>> gtsam.Pose2(1,2,3)
(1, 2, 3)

GTSAM with Python wrapper and VNC

First, start the image, which will run a VNC server on port 5900:

docker run -p 5900:5900 borglab/gtsam-vnc:4.2.0-tbb-ON-python-ON_22.04

Then open a remote VNC X client, for example:

Linux

sudo apt-get install tigervnc-viewer
xtigervncviewer :5900

Mac

The Finder's "Connect to Server..." with vnc://127.0.0.1 does not work, for some reason. Using the free VNC Viewer, enter 0.0.0.0:5900 as the server.

Build images locally

Build Dependencies

gtsam image

.env file

  • GTSAM_GIT_TAG: git tag from the gtsam repo
  • UBUNTU_TAG: image tag provided by ubuntu to base the image off of
  • GTSAM_WITH_TBB: to build GTSAM with TBB, set to ON
  • GTSAM_BUILD_PYTHON: to build python bindings, set to ON
  • CORES: number of cores to compile with

Build gtsam image

docker compose build

gtsam-vnc image

gtsam-vnc/.env file

  • GTSAM_TAG: image tag provided by gtsam

Build gtsam-vnc image

docker compose --file gtsam-vnc/compose.yaml build

Push to Docker Hub

Make sure you are logged in via: docker login docker.io.

gtsam images

Specify the variables described in the .env file in the hub_push.sh script. To push images to Docker Hub, run as follows:

./hub_push.sh

gtsam-vnc images

Specify the variables described in the gtsam-vnc/.env file in the gtsam-vnc/hub_push.sh script. To push images to Docker Hub, run as follows:

./gtsam-vnc/hub_push.sh