====== Installing UIMA/C++ ======

Last Update: March 2013

Tested on: Ubuntu 12.04 with ROS Groovy

===== First, install some standard libs =====

  sudo apt-get install libicu-dev libxerces-c-dev openjdk-7-jdk libapr1-dev

===== Choose an installation location =====

  cd $HOME
  mkdir uima

===== Put the right paths into your ~/.bashrc =====

In the following code, replace ''$HOME/uima'' with the location where you actually want your UIMA environment to reside.

  export UIMA_WORKSPACE=$HOME/uima
  export UIMA_HOME=$UIMA_WORKSPACE/apache-uima
  export UIMACPP_HOME=$UIMA_WORKSPACE/uimacpp/install
  
  export PATH=$UIMACPP_HOME/bin:$UIMA_WORKSPACE/apache-maven/bin:$PATH
  export LD_LIBRARY_PATH=$UIMACPP_HOME/lib:$UIMA_WORKSPACE/iai-uima/ias-uima-cpp/lib:$LD_LIBRARY_PATH
  export CLASSPATH=$UIMA_WORKSPACE/iai-uima/ias-uima-java/bin
  
  export APR_HOME=/usr
  export ICU_HOME=/usr
  export XERCES_HOME=/usr  
  
Depending on your OS replace ARCH by amd64 or i386
  
  export JAVA_HOME=/usr/lib/jvm/java-7-openjdk-ARCH/ 
  export JAVA_INCLUDE=$JAVA_HOME/include

===== Get Maven =====

Get the Maven 3.0 or later binaries from [[http://maven.apache.org/download.html]].

Extract everything into ''$UIMA_WORKSPACE/apache-maven'', so ''ls $UIMA_WORKSPACE/apache-maven'' should give you something like:

  bin  boot  conf  lib  LICENSE.txt  NOTICE.txt  README.txt

===== Get UIMA/C++ from the SVN & build =====

  cd $UIMA_WORKSPACE
  svn co https://svn.apache.org/repos/asf/uima/uimacpp/trunk/ uimacpp

uimacpp will look for libapr-1.0.so which isn't there in Ubuntu, so we need to create a symlink to that:

  cd /usr/lib
  sudo ln -s libapr-1.so libapr-1.0.so

Note: recent trunk seems to have a different build system setup, I had to do:

  cd $UIMA_WORKSPACE/uimacpp
  ./autogen.sh
  ./configure --without-activemq --with-jdk=/usr/lib/jvm/java-6-openjdk/include --prefix=${UIMACPP_HOME}
  make install

What this will do is compile everything and create a couple of folders in ''$UIMACPP_HOME'', so ''ls $UIMACPP_HOME'' should give you:
  
  bin  data  include  lib


===== Get the UIMA Java SDK Binaries =====

Download and extract latest binaries to ''$UIMA_WORKSPACE''

  http://uima.apache.org/downloads.cgi

Doing ''ls $UIMA_WORKSPACE/apache-uima'' should give something like

  bin  config  docs  eclipsePlugins  examples  issuesFixed  lib  LICENSE  NOTICE  README  RELEASE_NOTES.html


===== Set up ROS and PCL =====

Install ROS Groovy (see ''http://www.ros.org/wiki/groovy/Installation/Ubuntu''):

  sudo apt-get install ros-groovy-desktop-full
  
Install dependencies:

  sudo apt-get install ros-groovy-pcl ros-groovy-openni-camera ros-groovy-openni-launch
  
===== Set up MongoDB =====

Get the server. See: 
[[http://www.mongodb.org/display/DOCS/Ubuntu+and+Debian+packages]]

Get the lates client and unpack it to $UIMA_WORKSPACE
[[http://dl.mongodb.org/dl/cxx-driver/]] 

If you don't yet have it, get scons

  sudo apt-get install scons
  
Before compiling the client, uncomment the following line in src/SConscript.client
  
  env.SharedLibrary('mongoclient', clientSource),
  
Add this to the .bashrc

  export MONGODBCLIENT_HOME=$UIMA_WORKSPACE/mongo-cxx-driver-v2.2/
  export MONGODBCLIENT_HOME_INCLUDE=$MONGODBCLIENT_HOME/src
  
  
===== Get the IAS UIMA Repository =====

Check out code and submodules:

  cd $UIMA_WORKSPACE
  git clone git@bitbucket.org:code_iai/iai-uima.git
  cd iai-uima
  git submodule init
  git submodule update

Checkout dependencies and add them to your ROS_PACKAGE_PATH:

  git clone git@bitbucket.org:code_iai/iai_perception_stack.git
  git clone git@bitbucket.org:code_iai/entres.git
  git clone git@bitbucket.org:code_iai/iai_msgs.git
  svn co https://code.ros.org/svn/ros-pkg/stacks/vslam/trunk vslam
  svn co https://cmu-ros-pkg.svn.sourceforge.net/svnroot/cmu-ros-pkg/trunk/3rdparty/ann2 ann2
  svn co https://jsk-ros-pkg.svn.sourceforge.net/svnroot/jsk-ros-pkg/trunk/3rdparty/libsiftfast libsiftfast
  git clone https://github.com/dejanpan/objects_of_daily_use_finder
  
Get the libsvm folder from 

  http://sourceforge.net/p/tum-ros-pkg/code/1016/tree/3rdparty/

Adapt manifest.xml files from icf_dataset and ias_uima_cpp:

Replace 
  <depend package="eigen"/>
by
  <rosdep name="eigen"/>

Additionally in ias_uima_cpp you have to replace 
  <depend package="openni"/>
by
  <depend package="openni_camera"/>

Compile ann2, vslam, libsiftfast and libsvm.

NOTE: When compiling libsvm the compiler might complain about not being able to find build/libsvm-3.12 - just rename build/libsvm-3.16 to build/libsvm-3.12 and everything should be fine.

Now call

  rosmake ias-uima-cpp

Finally browse to ''$UIMA_WORKSPACE/iai-uima/ias-uima-java/ant'' and call 

  ant

Now ''ls $UIMA_WORKSPACE/iai-uima/ias-uima-java/bin/org/ias/uima/collectionreader/'' should show:

  Clock.class
  
To install apache, php and other things required for the database visualization website, look at ''$UIMA_WORKSPACE/iai-uima/www/README.txt''. To get histograms visualized as graphs, install libphp-jpgraph.
===== Run Example =====

  rosrun openni_camera openni_node
  rosrun rosrun rqt_reconfigure rqt_reconfigure # enable depth registration and hiRes RGB
  $UIMA_WORKSPACE/apache-uima/bin/cpeGui.sh # use as collection reader ias-uima-java/desc/ClockDescriptor and as analysis engine ias-uima-cpp/descriptors/analysis_engines/iaiGoggles.xml
  
  
===== Troubleshooting =====

In case the website complains that sorting needs mongodb index do the following...
  
  mongo uima
  db.uima.ensureIndex({"scenes.timestamp":-1})
  //double check : 
  db.uima.getIndexes()
 
In case you RosKinnectBridge hangs check if depth registered is turned on in openni. you can do this by listening to the topic:

  rostopic hz /camera/depth_registered/points
  
If RosKinnectBridge fails check the parameters for tf from to and camera frames in the description of the annotation.