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# Instructions
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# Images on Docker Hub
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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
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```bash
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docker run -it borglab/ubuntu-gtsam:bionic
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```
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after you will find yourself in a bash shell, in the directory `/usr/src/gtsam/build` .
## GTSAM with Python wrapper
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To use GTSAM via the python wrapper, similarly execute
```bash
docker run -it borglab/ubuntu-gtsam-python:bionic
```
and then launch `python3` :
```bash
python3
>>> import gtsam
>>> gtsam.Pose2(1,2,3)
(1, 2, 3)
```
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## GTSAM with Python wrapper and VNC
First, start the docker image, which will run a VNC server on port 5900:
```bash
docker run -p 5900:5900 borglab/ubuntu-gtsam-python-vnc:bionic
```
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Then open a remote VNC X client, for example:
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### Linux
```bash
sudo apt-get install tigervnc-viewer
xtigervncviewer :5900
```
### Mac
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The Finder's "Connect to Server..." with `vnc://127.0.0.1` does not work, for some reason. Using the free [VNC Viewer ](https://www.realvnc.com/en/connect/download/viewer/ ), enter `0.0.0.0:5900` as the server.
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# Re-building the images locally
To build all docker images, in order:
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```bash
(cd ubuntu-boost-tbb & & ./build.sh)
(cd ubuntu-gtsam & & ./build.sh)
(cd ubuntu-gtsam-python & & ./build.sh)
(cd ubuntu-gtsam-python-vnc & & ./build.sh)
```
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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.
