Merge pull request #871 from borglab/feature/docker_update
Varun Agrawal
GitHub
commit
f9edcd2799
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# Instructions
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Build all docker images, in order:
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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:
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- `borglab/ubuntu-boost-tbb`: 18.06 Linux (nicknamed `bionic`) base image, with Boost and TBB installed.
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- `borglab/ubuntu-gtsam`: GTSAM Release version installed in `/usr/local`.
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- `borglab/ubuntu-gtsam-python`: installed GTSAM with python wrapper.
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- `borglab/ubuntu-gtsam-python-vnc`: image with GTSAM+python wrapper 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 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`.
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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/ubuntu-gtsam-python:bionic
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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 docker 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/ubuntu-gtsam-python-vnc:bionic
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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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# Re-building the images locally
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To build all docker images, in order:
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```bash
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(cd ubuntu-boost-tbb && ./build.sh)
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@ -9,13 +60,4 @@ Build all docker images, in order:
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(cd ubuntu-gtsam-python-vnc && ./build.sh)
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```
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Then launch with:
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docker run -p 5900:5900 dellaert/ubuntu-gtsam-python-vnc:bionic
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Then open a remote VNC X client, for example:
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sudo apt-get install tigervnc-viewer
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xtigervncviewer :5900
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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.
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# Build command for Docker image
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# TODO(dellaert): use docker compose and/or cmake
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docker build --no-cache -t dellaert/ubuntu-boost-tbb:bionic .
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docker build --no-cache -t borglab/ubuntu-boost-tbb:bionic .
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# This GTSAM image connects to the host X-server via VNC to provide a Graphical User Interface for interaction.
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# Get the base Ubuntu/GTSAM image from Docker Hub
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FROM dellaert/ubuntu-gtsam-python:bionic
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FROM borglab/ubuntu-gtsam-python:bionic
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# Things needed to get a python GUI
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ENV DEBIAN_FRONTEND noninteractive
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# Build command for Docker image
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# TODO(dellaert): use docker compose and/or cmake
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# Needs to be run in docker/ubuntu-gtsam-python-vnc directory
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docker build -t dellaert/ubuntu-gtsam-python-vnc:bionic .
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docker build -t borglab/ubuntu-gtsam-python-vnc:bionic .
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docker run -it \
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--workdir="/usr/src/gtsam" \
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-p 5900:5900 \
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dellaert/ubuntu-gtsam-python-vnc:bionic
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borglab/ubuntu-gtsam-python-vnc:bionic
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# GTSAM Ubuntu image with Python wrapper support.
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# Get the base Ubuntu/GTSAM image from Docker Hub
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FROM dellaert/ubuntu-gtsam:bionic
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FROM borglab/ubuntu-gtsam:bionic
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# Install pip
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RUN apt-get install -y python3-pip python3-dev
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@ -22,7 +22,9 @@ RUN cmake \
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..
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# Build again, as ubuntu-gtsam image cleaned
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RUN make -j4 install && make clean
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RUN make -j4 install
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RUN make python-install
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RUN make clean
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# Needed to run python wrapper:
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RUN echo 'export PYTHONPATH=/usr/local/python/:$PYTHONPATH' >> /root/.bashrc
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# Build command for Docker image
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# TODO(dellaert): use docker compose and/or cmake
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docker build --no-cache -t dellaert/ubuntu-gtsam-python:bionic .
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docker build --no-cache -t borglab/ubuntu-gtsam-python:bionic .
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@ -1,7 +1,7 @@
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# Ubuntu image with GTSAM installed. Configured with Boost and TBB support.
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# Get the base Ubuntu image from Docker Hub
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FROM dellaert/ubuntu-boost-tbb:bionic
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FROM borglab/ubuntu-boost-tbb:bionic
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# Install git
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RUN apt-get update && \
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# Build command for Docker image
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# TODO(dellaert): use docker compose and/or cmake
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docker build --no-cache -t dellaert/ubuntu-gtsam:bionic .
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docker build --no-cache -t borglab/ubuntu-gtsam:bionic .
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