Installing UIMA/C++

Last Update: March 2013

Tested on: Ubuntu 12.04 with ROS Groovy

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

cd $HOME
mkdir uima

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 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

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

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

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

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

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.

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

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.