Merge branch 'develop' into model-selection-integration

.gitignore

@@ -19,3 +19,4 @@ CMakeLists.txt.user*
 xcode/
 /Dockerfile
 /python/gtsam/notebooks/.ipynb_checkpoints/ellipses-checkpoint.ipynb
+.cache/

README.md

@@ -15,11 +15,11 @@ matrices.
 
 The current support matrix is:
 
-| Platform     | Compiler  | Build Status  |
-|:------------:|:---------:|:-------------:|
-| Ubuntu 18.04 | gcc/clang | ![Linux CI](https://github.com/borglab/gtsam/workflows/Linux%20CI/badge.svg) |
-| macOS        | clang     | ![macOS CI](https://github.com/borglab/gtsam/workflows/macOS%20CI/badge.svg) |
-| Windows      | MSVC      | ![Windows CI](https://github.com/borglab/gtsam/workflows/Windows%20CI/badge.svg) |
+| Platform           | Compiler  | Build Status                                                                     |
+|:------------------:|:---------:|:--------------------------------------------------------------------------------:|
+| Ubuntu 20.04/22.04 | gcc/clang | ![Linux CI](https://github.com/borglab/gtsam/workflows/Linux%20CI/badge.svg)     |
+| macOS              | clang     | ![macOS CI](https://github.com/borglab/gtsam/workflows/macOS%20CI/badge.svg)     |
+| Windows            | MSVC      | ![Windows CI](https://github.com/borglab/gtsam/workflows/Windows%20CI/badge.svg) |
 
 
 On top of the C++ library, GTSAM includes [wrappers for MATLAB & Python](#wrappers).

containers/Containerfile

@@ -0,0 +1,45 @@
+# base image off ubuntu image
+ARG UBUNTU_TAG=22.04
+FROM docker.io/ubuntu:${UBUNTU_TAG}
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+# dependencies
+    libboost-all-dev \
+# optional dependencies
+    libtbb-dev \
+    python3-dev \
+    python3-pip \
+    python3-pyparsing \
+    python3-numpy \
+# build dependencies
+    build-essential \
+    cmake \
+# download dependencies
+    git \
+    ca-certificates && \
+    rm -rf /var/lib/apt/lists/*
+
+# build flags
+ARG GTSAM_GIT_TAG=4.2.0
+ARG GTSAM_WITH_TBB=ON
+ARG GTSAM_BUILD_PYTHON=ON
+ARG CORES=4
+
+# build and install gtsam
+RUN mkdir -p /src/github/borglab && cd /src/github/borglab && \
+    git clone https://github.com/borglab/gtsam --depth 1 --branch ${GTSAM_GIT_TAG} && \
+    cd gtsam && \
+    mkdir build && \
+    cd build && \
+    cmake \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DGTSAM_BUILD_TESTS=OFF \
+    -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB} \
+    -DGTSAM_BUILD_PYTHON=${GTSAM_BUILD_PYTHON} \
+    .. && \
+    make -j${CORES} install && \
+    if [ "${GTSAM_BUILD_PYTHON}" = "ON" ] ; then \
+    make python-install; \
+    fi
+
+CMD ["/bin/bash"]

containers/README.md

@@ -0,0 +1,127 @@
+# GTSAM Containers
+
+- container files to build images
+- script to push images to a registry
+- instructions to pull images and run containers
+
+## Dependencies
+
+- a container engine such as [`Docker Engine`](https://docs.docker.com/engine/install/)
+
+## Pull from Docker Hub
+
+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.
+
+Example for pulling an image with GTSAM compiled with TBB and Python support on top of a base Ubuntu 22.04 image.
+
+```bash
+docker pull docker.io/borglab/gtsam:4.2.0-tbb-ON-python-ON_22.04
+```
+
+[`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.
+
+## Using the images
+
+### Just GTSAM
+
+To start the image, execute
+
+```bash
+docker run -it borglab/gtsam:4.2.0-tbb-ON-python-OFF_22.04
+```
+
+after you will find yourself in a bash shell.
+
+### GTSAM with Python wrapper
+
+To use GTSAM via the python wrapper, similarly execute
+
+```bash
+docker run -it borglab/gtsam:4.2.0-tbb-ON-python-ON_22.04
+```
+
+and then launch `python3`:
+
+```bash
+python3
+>>> import gtsam
+>>> gtsam.Pose2(1,2,3)
+(1, 2, 3)
+```
+
+### GTSAM with Python wrapper and VNC
+
+First, start the image, which will run a VNC server on port 5900:
+
+```bash
+docker run -p 5900:5900 borglab/gtsam-vnc:4.2.0-tbb-ON-python-ON_22.04
+```
+
+Then open a remote VNC X client, for example:
+
+#### Linux
+
+```bash
+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](https://www.realvnc.com/en/connect/download/viewer/), enter `0.0.0.0:5900` as the server.
+
+## Build images locally
+
+### Build Dependencies
+
+- a [Compose Spec](https://compose-spec.io/) implementation such as [docker-compose](https://docs.docker.com/compose/install/)
+
+### `gtsam` image
+
+#### `.env` file
+
+- `GTSAM_GIT_TAG`: [git tag from the gtsam repo](https://github.com/borglab/gtsam/tags)
+- `UBUNTU_TAG`: image tag provided by [ubuntu](https://hub.docker.com/_/ubuntu/tags) to base the image off of
+- `GTSAM_WITH_TBB`: to build GTSAM with TBB, set to `ON`
+- `GTSAM_BUILD_PYTHON`: to build python bindings, set to `ON`
+- `CORES`: number of cores to compile with
+
+#### Build `gtsam` image
+
+```bash
+docker compose build
+```
+
+### `gtsam-vnc` image
+
+#### `gtsam-vnc/.env` file
+
+- `GTSAM_TAG`: image tag provided by [gtsam](https://hub.docker.com/r/borglab/gtsam/tags)
+
+#### Build `gtsam-vnc` image
+
+```bash
+docker compose --file gtsam-vnc/compose.yaml build
+```
+
+## Push to Docker Hub
+
+Make sure you are logged in via: `docker login docker.io`.
+
+### `gtsam` images
+
+Specify the variables described in the `.env` file in the `hub_push.sh` script.
+To push images to Docker Hub, run as follows:
+
+```bash
+./hub_push.sh
+```
+
+### `gtsam-vnc` images
+
+Specify the variables described in the `gtsam-vnc/.env` file in the `gtsam-vnc/hub_push.sh` script.
+To push images to Docker Hub, run as follows:
+
+```bash
+./gtsam-vnc/hub_push.sh
+```

containers/compose.yaml

@@ -0,0 +1,14 @@
+services:
+  gtsam:
+    build:
+      args:
+        UBUNTU_TAG: ${UBUNTU_TAG}
+        GTSAM_GIT_TAG: ${GTSAM_GIT_TAG}
+        GTSAM_WITH_TBB: ${GTSAM_WITH_TBB}
+        GTSAM_BUILD_PYTHON: ${GTSAM_BUILD_PYTHON}
+        CORES: ${CORES}
+      context: .
+      dockerfile: Containerfile
+    env_file:
+      - .env
+    image: gtsam:${GTSAM_GIT_TAG}-tbb-${GTSAM_WITH_TBB}-python-${GTSAM_BUILD_PYTHON}_${UBUNTU_TAG}

containers/gtsam-vnc/Containerfile

@@ -0,0 +1,20 @@
+# This image connects to the host X-server via VNC to provide a Graphical User Interface for interaction.
+
+# base image off gtsam image
+ARG GTSAM_TAG=4.2.0-tbb-ON-python-ON_22.04
+FROM docker.io/borglab/gtsam:${GTSAM_TAG}
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+# Things needed to get a python GUI
+    python3-tk \
+    python3-matplotlib \
+# Install a VNC X-server, Frame buffer, and windows manager
+    x11vnc \
+    xvfb \
+    fluxbox \
+# Finally, install wmctrl needed for bootstrap script
+    wmctrl \
+    rm -rf /var/lib/apt/lists/*
+
+COPY bootstrap.sh /
+CMD ["/bootstrap.sh"]

containers/gtsam-vnc/compose.yaml

@@ -0,0 +1,10 @@
+services:
+  gtsam_vnc:
+    build:
+      args:
+        GTSAM_TAG: ${GTSAM_TAG}
+      context: .
+      dockerfile: Containerfile
+    env_file:
+      - .env
+    image: gtsam-vnc:${GTSAM_TAG}

containers/gtsam-vnc/hub_push.sh

@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+
+# A script to push images to Docker Hub
+
+declare -a gtsam_tags=("4.2.0-tbb-ON-python-ON_22.04")
+
+for gtsam_tag in "${gtsam_tags[@]}"; do
+
+    touch gtsam-vnc/.env
+    echo "GTSAM_TAG=${gtsam_tag}" > gtsam-vnc/.env
+
+    docker compose --file gtsam-vnc/compose.yaml build
+
+    docker tag gtsam-vnc:"${gtsam_tag}" \
+        docker.io/borglab/gtsam-vnc:"${gtsam_tag}"
+
+    docker push docker.io/borglab/gtsam-vnc:"${gtsam_tag}"
+
+done

containers/hub_push.sh

@@ -0,0 +1,32 @@
+#!/usr/bin/env bash
+
+# A script to push images to Docker Hub
+
+declare -a ubuntu_tags=("22.04")
+declare -a gtsam_git_tags=("4.2.0")
+declare -a gtsam_with_tbb_options=("OFF" "ON")
+declare -a gtsam_build_python_options=("OFF" "ON")
+
+for ubuntu_tag in "${ubuntu_tags[@]}"; do
+for gtsam_git_tag in "${gtsam_git_tags[@]}"; do
+for gtsam_with_tbb in "${gtsam_with_tbb_options[@]}"; do
+for gtsam_build_python in "${gtsam_build_python_options[@]}"; do
+
+    touch .env
+    echo "UBUNTU_TAG=${ubuntu_tag}" > .env
+    echo "GTSAM_GIT_TAG=${gtsam_git_tag}" >> .env
+    echo "GTSAM_WITH_TBB=${gtsam_with_tbb}" >> .env
+    echo "GTSAM_BUILD_PYTHON=${gtsam_build_python}" >> .env
+    echo "CORES=4" >> .env
+
+    docker compose build
+
+    docker tag gtsam:"${gtsam_git_tag}-tbb-${gtsam_with_tbb}-python-${gtsam_build_python}_${ubuntu_tag}" \
+        docker.io/borglab/gtsam:"${gtsam_git_tag}-tbb-${gtsam_with_tbb}-python-${gtsam_build_python}_${ubuntu_tag}"
+
+    docker push docker.io/borglab/gtsam:"${gtsam_git_tag}-tbb-${gtsam_with_tbb}-python-${gtsam_build_python}_${ubuntu_tag}"
+
+done
+done
+done
+done