add vscode devcontainer configuration

.devcontainer/Dockerfile

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+# --------------------------------------------------------------------------- #
+#      bioslam (latest) development Dockerfile for Ubuntu 20.04 base image          
+# with dependencies:
+#   boost: 1.71.0 (https://packages.ubuntu.com/focal/libboost1.71-all-dev)
+#   TBB: 2020.1 (https://packages.ubuntu.com/focal/libtbb-dev)
+#   HDF5 (serial): 1.10.4 (https://packages.ubuntu.com/focal/libhdf5-dev)
+#   Eigen: 3.3.9 (https://gitlab.com/libeigen/eigen)
+#   GTSAM: 4.0.3 (https://github.com/borglab/gtsam/releases/4.0.3)
+#   HighFive: 2.3.1 (https://github.com/BlueBrain/HighFive/releases/v2.3.1)
+# build environment:
+#   git: 2.25.1 (https://packages.ubuntu.com/focal/git)
+#   cmake: 3.16.3 (https://packages.ubuntu.com/focal/cmake)
+#   g++: 9.3.0 (from build-essential: https://packages.ubuntu.com/focal/build-essential)
+#   make: 4.2.1 (from build-essential: https://packages.ubuntu.com/focal/build-essential)
+# notes:
+# - only builds the C++ library and executables, no Python/MATLAB wrappers
+# - internet connection required to download dependencies
+# --------------------------------------------------------------------------- #
+
+FROM ubuntu:20.04
+
+LABEL maintainer="Tim McGrath <[email protected]>"
+
+ARG N_JOBS=4
+
+ENV DEBIAN_FRONTEND noninteractive
+
+# install package dependencies
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    ca-certificates \
+    build-essential \
+    git \
+    cmake \
+    libhdf5-dev \
+    libboost1.71-all-dev \
+    libtbb-dev \
+    && apt-get clean
+
+# install Eigen
+WORKDIR /usr/src/
+RUN git clone --single-branch --branch 3.3.9 https://gitlab.com/libeigen/eigen eigen3
+WORKDIR /usr/src/eigen3/build/
+RUN cmake ..
+RUN make install -j${N_JOBS}
+
+# Install GTSAM
+WORKDIR /usr/src/
+RUN git clone --depth 1 --branch 4.0.3 https://github.com/borglab/gtsam.git
+WORKDIR /usr/src/gtsam/build
+RUN cmake \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DGTSAM_WITH_EIGEN_MKL=OFF \
+    -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
+    -DGTSAM_BUILD_TIMING_ALWAYS=OFF \
+    -DGTSAM_BUILD_TESTS=OFF \
+    -DGTSAM_BUILD_UNSTABLE=OFF \
+    -DGTSAM_UNSTABLE_BUILD_PYTHON=OFF \
+    ..
+RUN make install -j${N_JOBS} && make clean
+
+# add /usr/local/lib to LD_LIBRARY_PATH for dynamic linking
+# note: this doesn't seem to save the .bashrc file, which isn't sourced anyway when running the container
+#   if not working inside container, run export LD_LIBRARY_PATH=/usr/local/lib:LD_LIBRARY_PATH in the shell
+RUN echo 'export LD_LIBRARY_PATH=/usr/local/lib:LD_LIBRARY_PATH' >> /root/.bashrc
+
+# install HighFive v2.3.1
+WORKDIR /usr/src/
+RUN git clone --depth 1 --branch v2.3.1 https://github.com/BlueBrain/HighFive
+WORKDIR /usr/src/HighFive/build/
+RUN cmake ..
+RUN make install -j${N_JOBS}
+
+# install imuDataUtils
+WORKDIR /usr/src/
+RUN git clone --depth 1 --branch master https://github.com/tmcg0/imuDataUtils
+WORKDIR /usr/src/imuDataUtils/build/
+RUN cmake ..
+RUN make install -j${N_JOBS}

.devcontainer/devcontainer.json

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+// For format details, see https://aka.ms/devcontainer.json. For config options, see the README at:
+// https://github.com/microsoft/vscode-dev-containers/tree/v0.191.1/containers/ubuntu
+{
+	"name": "bioslam-dev-container",
+	"build": {
+		"dockerfile": "Dockerfile",
+	},
+
+	// Set *default* container specific settings.json values on container create.
+	"settings": {},
+
+	// Add the IDs of extensions you want installed when the container is created.
+	"extensions": [
+		"ms-vscode.cpptools",
+		"GitHub.copilot",
+		"jeff-hykin.better-cpp-syntax",
+		"ms-vscode.cpptools-themes",
+		"ms-vscode.cpptools-extension-pack",
+		"twxs.cmake"
+	],
+
+	// add mounts for data access
+	"mounts":[]
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+
+	// Use 'postCreateCommand' to run commands after the container is created.
+	// "postCreateCommand": "uname -a",
+
+	// Comment out connect as root instead. More info: https://aka.ms/vscode-remote/containers/non-root.
+	//"remoteUser": "vscode"
+}