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modernize containers
use compose spec, use single image repo with tags for various configs, create a docker hub push script, clean up/slim down container files
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‎containers/Containerfile

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# base image off ubuntu image
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ARG UBUNTU_TAG=22.04
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FROM docker.io/ubuntu:${UBUNTU_TAG}
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RUN apt-get update && apt-get install -y --no-install-recommends \
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# dependencies
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libboost-all-dev \
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# optional dependencies
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libtbb-dev \
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python3-dev \
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python3-pip \
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python3-pyparsing \
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python3-numpy \
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# build dependencies
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build-essential \
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cmake \
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# download dependencies
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git \
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ca-certificates && \
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rm -rf /var/lib/apt/lists/*
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# build flags
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ARG GTSAM_GIT_TAG=4.2.0
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ARG GTSAM_WITH_TBB=ON
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ARG GTSAM_BUILD_PYTHON=ON
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ARG CORES=4
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# build and install gtsam
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RUN mkdir -p /src/github/borglab && cd /src/github/borglab && \
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git clone https://github.com/borglab/gtsam --depth 1 --branch ${GTSAM_GIT_TAG} && \
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cd gtsam && \
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mkdir build && \
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cd build && \
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cmake \
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-DCMAKE_BUILD_TYPE=Release \
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-DGTSAM_BUILD_TESTS=OFF \
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-DGTSAM_WITH_TBB=${GTSAM_WITH_TBB} \
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-DGTSAM_BUILD_PYTHON=${GTSAM_BUILD_PYTHON} \
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.. && \
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make -j${CORES} install && \
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if [ "${GTSAM_BUILD_PYTHON}" = "ON" ] ; then \
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make python-install; \
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fi
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CMD ["/bin/bash"]

‎containers/README.md

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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
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Below we use [podman](https://podman.io), but you should be able to replace any `podman` calls to a Docker-compatible CLI such as [`docker`](https://www.docker.com/) or [`nerdctl`](https://github.com/containerd/nerdctl).
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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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podman 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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podman 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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podman 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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podman 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 [podman-compose](https://github.com/containers/podman-compose) or [docker-compose](https://docs.docker.com/compose/)
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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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podman-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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podman-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: `podman 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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sh 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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sh gtsam-vnc/hub_push.sh
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```

‎containers/compose.yaml

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services:
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gtsam:
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build:
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args:
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UBUNTU_TAG: ${UBUNTU_TAG}
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GTSAM_GIT_TAG: ${GTSAM_GIT_TAG}
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GTSAM_WITH_TBB: ${GTSAM_WITH_TBB}
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GTSAM_BUILD_PYTHON: ${GTSAM_BUILD_PYTHON}
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CORES: ${CORES}
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context: .
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dockerfile: Containerfile
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env_file:
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- .env
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image: gtsam:${GTSAM_GIT_TAG}-tbb-${GTSAM_WITH_TBB}-python-${GTSAM_BUILD_PYTHON}_${UBUNTU_TAG}

‎containers/gtsam-vnc/Containerfile

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# This image connects to the host X-server via VNC to provide a Graphical User Interface for interaction.
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# base image off gtsam image
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ARG GTSAM_TAG=4.2.0-tbb-ON-python-ON_22.04
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FROM docker.io/borglab/gtsam:${GTSAM_TAG}
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RUN apt-get update && apt-get install -y --no-install-recommends \
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# Things needed to get a python GUI
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python3-tk \
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python3-matplotlib \
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# Install a VNC X-server, Frame buffer, and windows manager
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x11vnc \
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xvfb \
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fluxbox \
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# Finally, install wmctrl needed for bootstrap script
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wmctrl \
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rm -rf /var/lib/apt/lists/*
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COPY bootstrap.sh /
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CMD ["/bootstrap.sh"]

‎docker/ubuntu-gtsam-python-vnc/bootstrap.sh ‎containers/gtsam-vnc/bootstrap.sh

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main
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exit
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exit

‎containers/gtsam-vnc/compose.yaml

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services:
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gtsam_vnc:
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build:
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args:
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GTSAM_TAG: ${GTSAM_TAG}
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context: .
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dockerfile: Containerfile
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env_file:
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- .env
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image: gtsam-vnc:${GTSAM_TAG}

‎containers/hub_push.sh

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# A script to push images to Docker Hub
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declare -a ubuntu_tags=("22.04")
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declare -a gtsam_git_tags=("4.2.0")
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declare -a gtsam_with_tbb_options=("ON", "OFF")
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declare -a gtsam_build_python_options=("ON", "OFF")
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for ubuntu_tag in "${ubuntu_tags[@]}"; do
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for gtsam_git_tag in "${gtsam_git_tags[@]}"; do
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for gtsam_with_tbb in "${gtsam_with_tbb_options[@]}"; do
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for gtsam_build_python in "${gtsam_build_python_options[@]}"; do
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touch .env
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echo "UBUNTU_TAG=${ubuntu_tag}" > .env
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echo "GTSAM_GIT_TAG=${gtsam_git_tag}" >> .env
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echo "GTSAM_WITH_TBB=${gtsam_with_tbb}" >> .env
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echo "GTSAM_BUILD_PYTHON=${gtsam_build_python}" >> .env
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echo "CORES=4" >> .env
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podman-compose build
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podman tag gtsam:"${gtsam_git_tag}-tbb-${gtsam_with_tbb}-python-${gtsam_build_python}_${ubuntu_tag}" \
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docker.io/borglab/gtsam:"${gtsam_git_tag}-tbb-${gtsam_with_tbb}-python-${gtsam_build_python}_${ubuntu_tag}"
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podman push docker.io/borglab/gtsam:"${gtsam_git_tag}-tbb-${gtsam_with_tbb}-python-${gtsam_build_python}_${ubuntu_tag}"
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done
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done
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done
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done

‎docker/README.md

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‎docker/ubuntu-boost-tbb/Dockerfile

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‎docker/ubuntu-boost-tbb/build.sh

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‎docker/ubuntu-gtsam-python-vnc/Dockerfile

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‎docker/ubuntu-gtsam-python-vnc/build.sh

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‎docker/ubuntu-gtsam-python-vnc/vnc.sh

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