Visual Servoing Platform
version 3.6.1 under development (2024-10-10)
|
In this tutorial you will learn how to install ViSP from source on Jetson TX2 equipped with a Connect Tech Quasar Carrier board.
$ apt-cache search libvispInstallation instructions are provided in Tutorial: Installation from prebuilt packages for Linux Ubuntu/Debian
This tutorial was tested with NVIDIA Jetson TX2 flashed with JetPack 4.6(rev3)
.
16.04
or 18.04
.NVIDIA SDK Components
using this tutorial.$ sudo apt-get install build-essential cmake-curses-gui git wget
First create a workspace that will contain all ViSP source, build, data set and optional 3rd parties. This workspace is here set to $HOME/visp-ws
folder, but it could be set to any other location.
In a terminal, run:
$ echo "export VISP_WS=$HOME/visp-ws" >> ~/.bashrc $ source ~/.bashrc $ mkdir -p $VISP_WS
In this section, we give minimal instructions to build ViSP from source just to try ViSP without entering in Advanced ViSP installation.
$ sudo apt-get install libx11-dev liblapack-dev libeigen3-dev libv4l-dev libzbar-dev libpthread-stubs0-dev libjpeg-dev libpng-dev
$ cd $VISP_WS $ git clone https://github.com/lagadic/visp.git
$ mkdir -p $VISP_WS/visp-build $ cd $VISP_WS/visp-build $ cmake ../visp $ make -j4
VISP_DIR
environment variable $ echo "export VISP_DIR=$VISP_WS/visp-build" >> ~/.bashrc $ source ~/.bashrc
To have a trial, just jump to Install ViSP dataset before running some binaries that you just build or jump to Next tutorial. You can later come back to the Advanced ViSP installation.
ViSP is interfaced with several optional 3rd party libraries. Follow the link to see the complete list of Supported Third-Party Libraries.
We recommend to install the following 3rd parties:
Installation of the other recommended 3rd parties could be performed running:
$ sudo apt-get install libopencv-dev libx11-dev liblapack-dev libeigen3-dev libv4l-dev libzbar-dev libpthread-stubs0-dev libdc1394-22-dev
To be able to run the tutorial, you should install OpenCV from source, since some extra modules are required (cudev
, cudaarithm
and cudawarping
are not included in libopencv-contrib-dev
package). To do so, proceed as follows:
VISP_WS
, clone opencv
and opencv_contrib
repos: build
directory in opencv
directory ccmake
: cudev
, cudaarithm
and cudawarping
extra modules are enabled as expected: $ grep cudev version_string.tmp " To be built: ... cudev ... $ grep cudaarithm version_string.tmp " To be built: ... cudaarithm ... $ grep cudawarping version_string.tmp " To be built: ... cudawarping ...If this is not the case, it means that something is wrong, either in CUDA installation, either in OpenCV configuration with
cmake
.If you have an Intel RealSense Depth camera (SR300 or D400 series), you may install librealsense 2.x in order to use vpRealSense2 class. Otherwise you can skip this section.
Installation instructions are given in the tutorial.
Following the tutorial, we recall the main steps here:
librealsense
build: $ sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev cmake-curses-gui $ sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
librealsense
from github: $ cd $VISP_WS/3rdparty $ git clone https://github.com/IntelRealSense/librealsense.git $ cd librealsense
librealsense
root directory: $ sudo ./scripts/setup_udev_rules.sh
$ mkdir build $ cd build $ cmake .. -DBUILD_EXAMPLES=ON -DCMAKE_BUILD_TYPE=Release $ make -j4 $ sudo make install
$ ./examples/capture/rs-capture
If you are able to visualize the images, it means that you succeed in librealsense
installation.
If you have an Occipital Structure Core sensor (monochrome or color), you may install Occipital Structure SDK in order to use vpOccipitalStructure class. Otherwise you can skip this section.
Occipital Structure SDK contains libStructure
pre-built library.
Download the SDK
Structure SDK (Cross-Platform)
.StructureSDK-CrossPlatform-0.9
from the downloaded file to the already created directory in $VISP_WS
.The SDK contains pre-built libraries for Linux, Windows and macOS. In order that ViSP detects Structure SDK header files and libraries, you have to set OCCIPITAL_STRUCTURE_DIR
environment variable. Proceed as follows:
$ echo "export OCCIPITAL_STRUCTURE_DIR=$VISP_WS/StructureSDK-CrossPlatform-0.9" >> ~/.bashrc $ source ~/.bashrc
Get ViSP from GitHub repository using the following command
$ cd $VISP_WS $ git clone https://github.com/lagadic/visp.git
We suppose now that ViSP source is in the directory $VISP_WS/visp
.
These are the steps to configure ViSP from source with CMake:
visp-build
that will contain all the build material; generated Makefiles, object files, output libraries and binaries. $ mkdir $VISP_WS/visp-build
visp-build
folder and configure the build: $ cd $VISP_WS/visp-build $ cmake ../vispA more versatile way to configure the build is to use
ccmake
, the CMake GUI: $ ccmake ../vispThe following image shows that this command allows to configure (just by pressing [c] key) the build in a more advanced way where some options could be easily turned ON/OFF. It allows also to see which are the 3rd parties that will be used. To generate the makefiles, just press [g] key in the ccmake gui.
To build ViSP libraries proceed with:
$ cd $VISP_WS/visp-build $ make -j4 $ sudo make install
To build ViSP documentation, you have first to install Doxygen package:
$ sudo apt-get install doxygen graphviz texlive-latex-base
Then you can proceed with:
$ cd $VISP_WS/visp-build $ cmake ../visp $ make -j4 visp_doc
The generated documentation is then available in $VISP_WS/visp-build/doc/html/index.html
$ npm install mathjax $ cmake ../visp -DUSE_MATHJAX=ON $ make -j4 visp_doc
ENABLE_FULL_DOC
to ON
like: $ cmake ../visp -DENABLE_FULL_DOC=ON $ make -j4 visp_doc
In order to ease ViSP detection by CMake when ViSP is used as a 3rd party in an external project, like the one described in the Tutorial: How to create and build a project that uses ViSP and CMake on Unix or Windows, you may set VISP_DIR
environment variable with the path to the VISPConfig.cmake
file:
$ echo "export VISP_DIR=$VISP_WS/visp-build" >> ~/.bashrc $ source ~/.bashrc
Some ViSP examples and tests require a data set that contains images, video, models that is not part of ViSP source code. This data set is available in Github (https://github.com/lagadic/visp-images) or as a release in a separate archive named visp-images-x.y.z.zip
. This archive could be downloaded from https://visp.inria.fr/download page. Note that ViSP tutorials are not using ViSP data set.
We give hereafter the two ways to get this data set:
Get data set from github
$ cd $VISP_WS git clone https://github.com/lagadic/visp-images.git
VISP_INPUT_IMAGE_PATH
environment variable to help ViSP examples and tests to detect automatically the location of the requested data. In our case, this variable should be set to $VISP_WS%/visp-images
. In a shell run: $ echo "export VISP_INPUT_IMAGE_PATH=$VISP_WS/visp-images" >> ~/.bashrc $ source ~/.bashrc
Test data set usage
displayX
example that should open a windows with Klimt painting image and some overlay drawings: $ cd $VISP_WS/visp-build $ ./example/device/display/displayX A click to close the windows... A click to display a cross... Cross position: 201, 441 A click to exit the program... Bye
Since all 3rd parties are optional you may have started to install only some of them. Imagine that you just installed a new third-party, or that you upgraded the version of this 3rd party. The next step is to go back to the build folder, configure ViSP with CMake to detect the newly installed third-party library and build again ViSP. This could be achieved with:
$ cd $VISP_WS/visp-build $ cmake ../visp
Here you can check the content of the ViSP-third-party.txt
file and see if the newly installed 3rd party is well detected (see Which are the 3rd party libraries that are used in ViSP ?).
Finally, you need to rebuild ViSP with:
$ make -j4
Installing ViSP is optional and not recommended, since ViSP could be used as a 3rd party without installation. If you still want to proceed with the installation run:
$ cd $VISP_WS/visp-build $ sudo make install
/usr/local
. This location could be changed modifying CMAKE_INSTALL_PREFIX
var: $ cd $VISP_WS/visp-build $ cmake ../visp -DCMAKE_INSTALL_PREFIX=/usr $ make -j4 $ sudo make install
/usr
or /usr/local
there is no need to Set VISP_DIR environment var that helps CMake to find ViSP libraries in an external project that uses ViSP as a 3rd party. If you rather install ViSP in a non "standard" folder, let say /my/install/folder
, you have to set VISP_DIR
to /my/install/folder/lib/cmake/visp
that contains the VISPConfig.cmake
file: $ cd $VISP_WS/visp-build $ cmake ../visp -DCMAKE_INSTALL_PREFIX=/my/install/folder $ make -j4 $ sudo make install $ echo "export VISP_DIR=/my/install/folder/lib/cmake/visp" >> ~/.bashrc $ source ~/.bashrc
After ViSP installation, you can remove installed material using:
$ cd $VISP_WS/visp-build $ sudo make uninstall
If you want to build only ViSP modules libraries, nor the examples, tutorials and tests:
$ cd $VISP_WS/visp-build $ make -j4 visp_modules
If you want to build a given module and all the dependencies:
$ cd $VISP_WS/visp-build $ make -j4 visp_<module_name>
For example to build the model-based tracker module named mbt, run:
$ cd $VISP_WS/visp-build $ make -j4 visp_mbt
To know which are the target available with make
:
$ make help | grep visp ... visp_tests ... visp_modules ... visp_examples ... visp_demos ... visp_tutorials ... visp_clipper ... visp_apriltag ... visp_core ... visp_gui ... visp_imgproc ... visp_io ... gen_visp_java_source ... visp_klt ... visp_me ... visp_sensor ... visp_ar ... visp_blob ... visp_robot ... visp_visual_features ... visp_vs ... visp_vision ... visp_detection ... visp_mbt ... visp_tt ... visp_tt_mi
To see which are the optional 3rd parties that are found during the configuration stage and that will be used by ViSP during the build you can have a look to the text file named ViSP-third-party.txt
and located in $VISP_WS/visp-build
. We provide hereafter an example of a possible content of this file that contains also build info.
$ cat $VISP_WS/visp-build/ViSP-third-party.txt ========================================================== General configuration information for ViSP 3.4.1 Version control: v3.4.0-306-g318d05132-dirty Platform: Timestamp: 2022-01-24T16:17:00Z Host: Linux 4.9.253-tegra aarch64 CMake: 3.10.2 CMake generator: Unix Makefiles CMake build tool: /usr/bin/make Configuration: Release C/C++: Built as dynamic libs?: yes C++ Compiler: /usr/bin/c++ (ver 7.5.0) C++ flags (Release): -Wall -Wextra -fopenmp -std=c++11 -fvisibility=hidden -fPIC -O3 -DNDEBUG C++ flags (Debug): -Wall -Wextra -fopenmp -std=c++11 -fvisibility=hidden -fPIC -g C Compiler: /usr/bin/cc C flags (Release): -Wall -Wextra -fopenmp -std=c++11 -fvisibility=hidden -fPIC -O3 -DNDEBUG C flags (Debug): -Wall -Wextra -fopenmp -std=c++11 -fvisibility=hidden -fPIC -g Linker flags (Release): Linker flags (Debug): ViSP modules: To be built: core gui imgproc io java_bindings_generator klt me sensor ar blob robot visual_features vs vision detection mbt tt tt_mi Disabled: - Disabled by dependency: - Unavailable: java Python (for build): /usr/bin/python Java: ant: NO JNI: NO Build options: Build deprecated: yes Build with moment combine: no Mathematics: Blas/Lapack: yes \- Use MKL: no \- Use OpenBLAS: no \- Use Atlas: no \- Use Netlib: yes (ver 3.7.1) \- Use GSL: no \- Use Lapack (built-in): no Use Eigen3: yes (ver 3.4.0) Use OpenCV: yes (ver 4.5.5) Simulator: Ogre simulator: \- Use Ogre3D: yes (ver 1.9.0) \- Use OIS: no Coin simulator: \- Use Coin3D: no \- Use SoWin: no \- Use SoXt: no \- Use SoQt: no \- Use Qt5: no \- Use Qt4: no \- Use Qt3: no Media I/O: Use JPEG: yes (ver 80) Use PNG: yes (ver 1.6.34) \- Use ZLIB: yes (ver 1.2.11) Use OpenCV: yes (ver 4.5.5) Use stb_image (built-in): no Real robots: Use Afma4: no Use Afma6: no Use Franka: no Use Viper650: no Use Viper850: no Use Kinova Jaco: no Use aria (Pioneer): no Use PTU46: no Use Biclops PTU: no Use Flir PTU SDK: no Use Parrot ARSDK: no \-Use ffmpeg: no Use Virtuose: no Use qbdevice (built-in): yes (ver 2.6.0) Use takktile2 (built-in): yes (ver 1.0.0) GUI: Use X11: yes Use GTK: no Use OpenCV: yes (ver 4.5.5) Use GDI: no Use Direct3D: no Cameras: Use DC1394-2.x: yes (ver 2.2.5) Use CMU 1394: no Use V4L2: yes (ver 1.14.2) Use directshow: no Use OpenCV: yes (ver 4.5.5) Use FLIR Flycapture: no Use Basler Pylon: no Use IDS uEye: no RGB-D sensors: Use Realsense: no Use Realsense2: yes (ver 2.50.0) Use Occipital Structure: yes Use Kinect: no \- Use libfreenect: no \- Use libusb-1: yes (ver 1.0.21) \- Use pthread: yes Use PCL: no \- Use VTK: no F/T sensors: Use atidaq (built-in): no Use comedi: no Use IIT SDK: no Detection: Use zbar: yes (ver 0.10) Use dmtx: no Use AprilTag (built-in): yes (ver 3.1.1) \- Use AprilTag big family: no Misc: Use Clipper (built-in): yes (ver 6.4.2) Use pugixml (built-in): yes (ver 1.9.0) Use libxml2: yes (ver 2.9.4) Optimization: Use OpenMP: yes Use pthread: yes Use pthread (built-in): no Use cxx standard: 11 DNN: Use CUDA Toolkit: yes (ver 10.2) Use TensorRT: yes (ver 8.0.1.6) Documentation: Use doxygen: no Tests and samples: Use catch2 (built-in): yes (ver 2.13.7) Tests: yes Demos: yes Examples: yes Tutorials: yes Install path: /usr/local ==========================================================
You are now ready to see the next Tutorial: How to create and build a project that uses ViSP and CMake on Unix or Windows that will show you how to use ViSP as a 3rd party to build your own project.