128 lines
3.1 KiB
Markdown
128 lines
3.1 KiB
Markdown
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# GTSAM Containers
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- container files to build images
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- script to push images to a registry
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- instructions to pull images and run containers
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## Dependencies
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- a container engine such as [`Docker Engine`](https://docs.docker.com/engine/install/)
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## Pull from Docker Hub
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Various GTSAM image configurations are available at [`docker.io/borglab/gtsam`](https://hub.docker.com/r/borglab/gtsam). Determine which [tag](https://hub.docker.com/r/borglab/gtsam/tags) you want and pull the image.
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Example for pulling an image with GTSAM compiled with TBB and Python support on top of a base Ubuntu 22.04 image.
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```bash
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docker pull docker.io/borglab/gtsam:4.2.0-tbb-ON-python-ON_22.04
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```
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[`docker.io/borglab/gtsam-vnc`](https://hub.docker.com/r/borglab/gtsam-vnc) is also provided as an image with GTSAM that will run a VNC server to connect to.
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## Using the images
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### Just GTSAM
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To start the image, execute
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```bash
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docker run -it borglab/gtsam:4.2.0-tbb-ON-python-OFF_22.04
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```
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after you will find yourself in a bash shell.
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### GTSAM with Python wrapper
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To use GTSAM via the python wrapper, similarly execute
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```bash
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docker run -it borglab/gtsam:4.2.0-tbb-ON-python-ON_22.04
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```
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and then launch `python3`:
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```bash
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python3
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>>> import gtsam
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>>> gtsam.Pose2(1,2,3)
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(1, 2, 3)
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```
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### GTSAM with Python wrapper and VNC
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First, start the image, which will run a VNC server on port 5900:
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```bash
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docker run -p 5900:5900 borglab/gtsam-vnc:4.2.0-tbb-ON-python-ON_22.04
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```
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Then open a remote VNC X client, for example:
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#### Linux
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```bash
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sudo apt-get install tigervnc-viewer
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xtigervncviewer :5900
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```
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#### 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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## Build images locally
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### Build Dependencies
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- a [Compose Spec](https://compose-spec.io/) implementation such as [docker-compose](https://docs.docker.com/compose/install/)
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### `gtsam` image
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#### `.env` file
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- `GTSAM_GIT_TAG`: [git tag from the gtsam repo](https://github.com/borglab/gtsam/tags)
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- `UBUNTU_TAG`: image tag provided by [ubuntu](https://hub.docker.com/_/ubuntu/tags) to base the image off of
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- `GTSAM_WITH_TBB`: to build GTSAM with TBB, set to `ON`
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- `GTSAM_BUILD_PYTHON`: to build python bindings, set to `ON`
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- `CORES`: number of cores to compile with
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#### Build `gtsam` image
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```bash
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docker compose build
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```
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### `gtsam-vnc` image
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#### `gtsam-vnc/.env` file
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- `GTSAM_TAG`: image tag provided by [gtsam](https://hub.docker.com/r/borglab/gtsam/tags)
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#### Build `gtsam-vnc` image
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```bash
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docker compose --file gtsam-vnc/compose.yaml build
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```
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## Push to Docker Hub
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Make sure you are logged in via: `docker login docker.io`.
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### `gtsam` images
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Specify the variables described in the `.env` file in the `hub_push.sh` script.
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To push images to Docker Hub, run as follows:
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```bash
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./hub_push.sh
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```
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### `gtsam-vnc` images
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Specify the variables described in the `gtsam-vnc/.env` file in the `gtsam-vnc/hub_push.sh` script.
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To push images to Docker Hub, run as follows:
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```bash
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./gtsam-vnc/hub_push.sh
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```
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