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DownloadAndInstallationFAQ
Table of Contents generated with DocToc
- CISST Libraries
- Optional External Dependencies
Note: Make sure you have cmake and a compiler installed (gcc, clang, Visual Studio 2005/2008/2010/2012, ...)
- Do the following commands to get the source from the cisst github repository
git clone https://github.com/jhu-cisst/cisst-saw.git --recursive
- Once you have downloaded the source, use CMake to configure cisst in a separate build directory
mkdir build
cd build
ccmake ../cisst-saw
- After creating your makefiles using CMake, build the cisst libraries
make
Notes:
-
Installation on more recent Mac OS X should be similar.
-
For cisstStereoVision only: If you plan to use OpenCV, you need to install it. We recommend using MacPort
-
For cisstStereoVision only: If you plan to use the svlImageWindow filter or other modules with X11 dependency, you need to install XQuartz (https://xquartz.macosforge.org).
-
You may use XCode for editing, compiling and debugging. However command line applications have to be executed from the Terminal because XCode does not open a command line for them by default. (Although there might be a way to force it somehow.)
- Do the following commands to get the source from the cisst github repository
git clone https://github.com/jhu-cisst/cisst-saw.git --recursive
- Once you have downloaded the source, use CMake to configure cisst in a separate build directory
mkdir build
cd build
ccmake -G Xcode ../cisst-saw
- After creating your makefiles using CMake, build the cisst libraries
make
- Open the project in XCode by double clicking on
cisst-saw.xcodeproj
in Mac OS Finder. When opening the project, XCode might ask for the directory to be used with the project. In that case just leave the default selection and continue.
Reminder, you need a C++ compiler (Visual Studio) and CMake (http://www.cmake.org).
-
Install a git client, see available clients from http://git-scm.com/downloads/guis (see also cisst Download)
-
Checkout cisst from https://github.com/jhu-cisst/cisst-saw.git, make sure you set your git client's flags to checkout recursively to get all the git submodules.
-
Once you have downloaded everything into source, use CMake to configure cisst in the build directory
-
Run CMake.
- Where is the source code: cisst source directory
- Where to build the binaries: custom build directory
- Click Configure and turn ON the desired libraries; e.g.:
CISST_BUILD_cisstMultiTask = ON
CISST_BUILD_cisstNumerical = ON
CISST_BUILDcisstOSAbstraction = ON
CISST_BUILD_cisstParameterTypes = ON
CISST_HAS_CISSTNETLIB = ON
- Click Configure and set:
CISSTNETLIB_DOWNLOAD_NOW = ON
- Click Configure and click Generate
- Open
cisst-saw.sln
under cisst build directory. - Build
ALL_BUILD
in debug and release configurations.
The following external dependencies are optional. The cisst libraries can be compiled without them, but with less functionality.
cisstNetLib is a customized binary distribution of some elements from the Netlib repository (which is Fortran code). The binary files can be downloaded and extracted (https://github.com/jhu-cisst/cisstNetlib), though it is more convenient to use CMake to download it, as follows (assuming you have an Internet connection):
- Select the
BUILD_LIBS_cisstNumerical
option, then pressConfigure
- Two new CMake entries will appear:
CISSTNETLIB_DIR
andCISSTNETLIB_DOWNLOAD_NOW
- Select
CISSTNETLIB_DOWNLOAD_NOW
and pressConfigure
again - Depending on your OS, you may be prompted for additional information, such as 32 vs. 64 bits
- CMake will automatically download the cisstNetLib libraries to your build tree and set the paths
- http://zeroc.com/platforms_3_4_2.html Ice-3.4.2
- http://zeroc.com/platforms_3_4_1.html Ice-3.4.1
- http://zeroc.com/platforms_3_3_1.html Ice-3.3.1
- [Download](http://www.zeroc.com/download.html Download) and install ZeroC's ICE.
- There are two ways to install ICE; One is to build ICE using source distribution and the other one is to use pre-built archives.
- If you choose the first method, you also need 3rd party packages.
- If you use pre-built packages, it should be the easiest and fastest way to install ICE. However, the binary distribution archive may not be available for your environment so you need to to check if ZeroC provides binary distribution archive for your environment (see [here](http://www.zeroc.com/platforms_3_3_1.html here)).
- Build cisst library with
CISST_MTS_HAS_ICE
option turned on.
The easiest and quickest installation method on Windows is to use .msi file.
Binary distribution can be installed through the package manager (e.g. apt-get on Ubuntu, yum on Fedora)
Use port : sudo port install ice-cpp
- The Ice Visual Studio Extension comes with Ice package installer and is automatically installed and activated if Visual Studio 2008 is found on the target machine.
- If you install Visual Studio 2008 or Visual Studio 2010 after installing Ice, you will have to re-run the Ice installer and choose "Repair" to install the extension.
- To activate the extension:
- Right-click on
cisstMultiTask
project in Solution Explorer and choose "Ice Configuration..." - Set options as follows: Image(IceExtensionSetup.png)
- The Ice Visual Studio Extension is not available for Visual C++ Express and you need to configure Visual Studio manually (Microsoft does not allow plug-in extensions to run with Express editions of Visual Studio).
- Please follow the steps below:
- In the IDE, choose '''Tools->Options->Projects and Solutions->VC++ Directories'''
- Select '''Include files'''
- Add
<Ice installation root directory>\include
- Select '''Library files'''
- For x86 libraries add
<Ice installation root directory>\lib
- For x64 libraries add
<Ice installation root directory>\lib\x64
- Select '''Executable files'''
- For x86 binaries add
<Ice installation root directory>\bin
- For x64 binaries add
<Ice installation root directory>\bin\x64
To use Ice for C++, there are two ways to set up the environment.
- Add the Ice
bin
directory to your PATH.
- On x86 platforms:
(command line prompt)> set PATH=<Ice installation root directory>\bin;%PATH%
- On x64 platforms: (Note: the
x64
directory must come first in your PATH)
(command line prompt)> set PATH=<Ice installation root directory>\bin;%PATH%
(command line prompt)> set PATH=<Ice installation root directory>\bin\x64;%PATH%
- If you're using C++Builder: (Note: the
bcc10
directory must come first in your PATH)
(command line prompt)> set PATH=<Ice installation root directory>\bin;%PATH%
(command line prompt)> set PATH=<Ice installation root directory>\bin\bcc10;%PATH%
- Copy necessary DLL files to the same folder as your executable
- For Ice-3.4.1
- Debug compilation:
bzip2d.dll
,ice.dll
,ice34d.dll
,iceutil34d.dll
- Release compilation:
bzip2.dll
,ice.dll
,ice34.dll
,iceutil34.dll
- Debug compilation:
- For Ice-3.3.x
- Debug compilation:
bzip2d.dll
,ice.dll
,ice33d.dll
,iceutil33d.dll
- Release compilation:
bzip2.dll
,ice.dll
,ice33.dll
,iceutil33.dll
- Debug compilation:
To wrap the cisst libraries for Python, the following steps are needed:
- Install Python on your system (Version 2.X, where X is >= 3). The cisst libraries have not been tested with Python 3.X.
- Install numpy, because the cisst mathematical types (e.g., fixed size and dynamic vectors and matrices) are mapped to numpy arrays.
- Install SWIG, which automatically wraps C++ code for Python (as well as other languages)
To use the Interactive Research Environment (IRE):
- Select the
CISST_BUILD_cisstInteractive
CMake option - Install wxPython or iPython
To use XML within cisst, you must turn ON the CISST_BUILD_cisstCommonXML
option in CMake. There are two options for XML support: LibXML2 or Qt. CMake will attempt to find these packages on its own. If both are present, the default is to use libXML2. This can be changed in CMake by modifying the CISST_XML_LIB variable to be either LibXml2 or QtXML.
Note, however, that to use the Qt XML, your code must have a QApplication
(i.e., it is not enough to just link with the Qt libraries). Also, if you are getting linker errors in external projects, be sure that cisstCommonXML
is added to your cisst_target_link_libraries
, i.e.:
cisst_target_link_libraries (yourProgram cisstCommon cisstCommonXML ....)
- Go to http://www.zlatkovic.com/pub/libxml/ and download the zlib, libxml2, and iconv zipped folders. Extract these.
- Each folder has a lib, include, and bin subfolder. Put the contents of the lib, include, and bin files of the zlib and iconv into their respective places (subfolders of the same name) in the libxml2 folder. The end result should be that each folder within libxml2 should contain the following:
- bin
libxml2.dll
minigzip.exe
zlib1.dll
iconv.exe
iconv.dll
xmlcatalog.exe
xmllint.exe
- include
-
libxml
folder iconv.h
zconf.h
zlib.h
- lib
iconv_a.lib
zdll.lib
zlib.lib
iconv.lib
libxml2.lib
libxml2_a.lib
libxml2_a_dll.lib
- You can discard the original zlib and iconv folders, which should now be empty.
- Now that this is done, run cmake on your CISST folder and turn on CISST_HAS_XML, it will ask you the location of
xmllint.exe
, include, andlibxml2.lib
. - Remember to recompile CISST afterwards.
Notes:
-
If you are using 64-bit OS, please see [https://trac.lcsr.jhu.edu/cisst/wiki/Compiling this guideline] for compiling FLTK on 64-bit machine.
-
For information about writing cisst FLTK components, see [wiki:cisstFLTK this page].
- Download and extract [http://www.fltk.org/ FLTK 1.1.9].
- Run CMake.
- ''Where is the source code'': FLTK source directory.
- ''Where to build the binaries'': custom build directory.
- Click Configure.
- Click Configure and click Generate.
- Open
FLTK.sln
under FLTK build directory. - Build
ALL_BUILD
in release configuration. - Build
INSTALL
in release configuration (This places the libraries under Program Files/FLTK).
We only support Qt4 and Qt5. Qt5 on Windows can be compiled with OpenGL or ANGLE, make sure you download the OpenGL version. If you're compiling Qt from scratch make sure you compile it against OpenGL, not ANGLE. Please refer to https://www.qt.io/ for general installation and compilation instructions.
For Qt4, set the QT_QMAKE_EXECUTABLE
option in CMake. For Qt5, set the Qt5XXX_DIR CMake variables to the appropriate CMake files provided by your Qt5 installation; for example set Qt5Core_DIR
to the directory in your Qt5 installation, lib/cmake/Qt5Core
.
The cisst libraries include a component viewer(mtsComponentViewer class in cisstMultiTask) that displays an interactive graphical visualization of the components in the system, whether a single process or distributed between different processes. This component viewer relies on the uDrawGraph package that can be obtained from http://www.informatik.uni-bremen.de/uDrawGraph/en/home.html
After installing it, be sure to add the binary directory to your path.
-
Download LINUX package from http://www.informatik.uni-bremen.de/uDrawGraph/en/download/download.html
-
Extract uDraw:
tar xfz uDrawGraph-3.1.1-0-linux-i386.tar.gz
-
Copy to /usr/local/:
sudo mv uDrawGraph-3.1 /usr/local/
-
Add the binary directory to path and
$UDG_HOME
(add the following block to .bashrc file)# uDrawGraph if [ -f /usr/local/uDrawGraph-3.1/README.txt ]; then export UDG_HOME=/usr/local/uDrawGraph-3.1 export PATH=$PATH:/usr/local/uDrawGraph-3.1/bin fi
The OpenGL Utility Toolkit (GLUT) is used by sawGLUTSimulator.
- Download and install GLUT (http://www.xmission.com/~nate/glut.html). For detailed installation process, please refer to README-win32.txt file (which is a bit dated) and/or the following:
- Copy
glut32.dll
toC:\Windows\System32
(on a 64-bit machine, this should beC:\Windows\SysWOW64
). - Copy
glut.h
to your C++ include directory; by convention this should be in aGL
subdirectory - For Visual Studio 2008, this could be
C:\Program Files\Microsoft Visual Studio 9.0\VC\include\GL
(create theGL
subdirectory if it does not exist, or put the file inC:\Program Files\Microsoft Visual Studio 9.0\VC\include
) - For Visual Studio 2003, this could be
C:\Program Files\Microsoft Visual Studio .NET 2003\Vc7\PlatformSDK\Include\gl
- Copy
glut32.lib
to your C++ library directory - For Visual Studio 2008, this could be
C:\Program Files\Microsoft Visual Studio 9.0\VC\lib
- For Visual Studio 2003, this could be
C:\Program Files\Microsoft Visual Studio .NET 2003\Vc7\PlatformSDK\Lib
- Install the freeglut package
- On Fedora, "yum install glut-devel"
- On Ubuntu, "apt-get install freeglut3-dev"
- Download and install from http://www.galilmc.com/support/software-downloads.php GalilTools 1.3.0.0.
- Obtain and copy debug
.dll
and.lib
files to corresponding folders under Program Files.
- Download and install from http://joule.ni.com/nidu/cds/view/p/id/1278/lang/en NI-DAQmx 9.0.
- Download and install from http://www.3dconnexion.com/support/downloads.php SpaceNavigator SE.
We now use CMake External Project to download and patch CppUnit. This is convenient on computers that don't already have CppUnit. For Linux and Mac OS, we still recommend to use the native package managers to install the development versions of CppUnit (using apt-get
, port
, ...). On other computers (Windows mostly), you can now use the cisst CMake configuration option CISST_USE_EXTERNAL
. When CISST_USE_EXTERNAL
is turned on and you turn on the option to build the cisst unit tests (CISST_BUILD_TESTS
), CppUnit sources will downloaded and compiled along cisst when you are building cisst. Please note that this requires a network connection for the first build.
The latest stable version of CppUnit package is 1.12.1. There is a CMake patch available for cppunit, which can be obtained via the Tracker/Patches link in the SourceForge cppunit page. We have updated this patch and attached it here:
- [attachment:cppunit-CMakeLists.txt]: rename to
CMakeLists.txt
and place in root of cppunit source tree - [attachment:cppunit-config.h.cmake]: rename to
config.h.cmake
and place in the/config
subfolder in the cppunit source tree
Depending on the compiler (e.g., for MingW), it may also be necessary to patch the file TypeInfoHelper.cpp
, in the src/cppunit
subfolder, by adding the following line:
#include <malloc.h>
This CMakeLists.txt
has been modified to build a static library, but can be edited to produce a dynamic library (e.g., DLL).
If CppUnit 1.12.0 is built from source code and you're using Microsoft Visual Studio C++ 2008, there are probably compilation errors such as the following (this does not seem to occur with 1.12.1):
Compiling...
MsDevCallerListCtrl.cpp
.\MsDevCallerListCtrl.cpp(67) : error C3505: cannot load type library '{80CC9F66-E7D8-4DDD-85B6-D9E6CD0E93E2}'
.\MsDevCallerListCtrl.cpp(67) : fatal error C1104: fatal error importing libid: '80cc9f66-e7d8-4ddd-85b6-d9e6cd0e93e2'
This is because the CppUnit 1.12.0 currently supports up to MSVS 7 of IDE for automation (see this link).
In order to fix this error, you need to patch line 67 of MsDevCallerListCtrl.cpp
as follows:
Before:
#import "libid:80cc9f66-e7d8-4ddd-85b6-d9e6cd0e93e2" version("7.0") lcid("0") raw_interfaces_only named_guids
After:
#if (_MSC_VER < 1500)
#import "libid:80cc9f66-e7d8-4ddd-85b6-d9e6cd0e93e2" version("7.0") lcid("0") raw_interfaces_only named_guids
#else
#import "libid:80cc9f66-e7d8-4ddd-85b6-d9e6cd0e93e2" version("9.0") lcid("0") raw_interfaces_only named_guids
#endif
This is a collection of known issues (e.g., compiler or linker errors) with solutions to fix the problems.
cisstNetlibGCC.lib(_chkstk.o) : error LNK2026: module unsafe for SAFESEH image.
This LNK2026 - SAFESEH image
link error occurs because of the optional compiler/linker security feature in MSVS. If you don't need this increased security feature, you can disable SAFESEH
option as follows:
- Open project property pages of your project
- Go to Linker > Advanced, and set
Image Has Safe Exception Handlers
toNo (/SAFESEH:NO)
.
Using CMake:
if (WIN32)
SET (CMAKE_EXE_LINKER_FLAGS "${CMAKE_LINKER_FLAGS} /SAFESEH:NO")
SET (CMAKE_SHARED_LINKER_FLAGS "${CMAKE_LINKER_FLAGS} /SAFESEH:NO")
SET (CMAKE_MODULE_LINKER_FLAGS "${CMAKE_LINKER_FLAGS} /SAFESEH:NO")
endif (WIN32)
This feature does not apply to x64. For more information, refer to this.
- Home
- Libraries & components
- Download
- Compile (FAQ)
- Reference manual
- cisstCommon
- cisstVector
- cisstNumerical
- cisstOSAbstraction
- TBD
- cisstMultiTask
- cisstRobot
- cisstStereoVision
- Developers