env/gtsam-4.1.1/docker

Instructions

Images on Docker Hub

There are 4 images available on https://hub.docker.com/orgs/borglab/repositories:

• borglab/ubuntu-boost-tbb: 18.06 Linux (nicknamed bionic) base image, with Boost and TBB installed.
• borglab/ubuntu-gtsam: GTSAM Release version installed in /usr/local.
• borglab/ubuntu-gtsam-python: installed GTSAM with python wrapper.
• borglab/ubuntu-gtsam-python-vnc: image with GTSAM+python wrapper that will run a VNC server to connect to.

Using the images

Just GTSAM

To start the Docker image, execute

docker run -it borglab/ubuntu-gtsam:bionic 

after you will find yourself in a bash shell, in the directory /usr/src/gtsam/build.

GTSAM with Python wrapper

To use GTSAM via the python wrapper, similarly execute

docker run -it borglab/ubuntu-gtsam-python:bionic 

and then launch python3:

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

GTSAM with Python wrapper and VNC

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

docker run -p 5900:5900 borglab/ubuntu-gtsam-python-vnc:bionic

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.

Re-building the images locally

To build all docker images, in order:

(cd ubuntu-boost-tbb && ./build.sh)
(cd ubuntu-gtsam && ./build.sh)
(cd ubuntu-gtsam-python && ./build.sh)
(cd ubuntu-gtsam-python-vnc && ./build.sh)

Note: building GTSAM can take a lot of memory because of the heavy templating. It is advisable to give Docker enough resources, e.g., 8GB, to avoid OOM errors while compiling.