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--- tutorials:uimacpp_groovy [2013/03/13 12:57] – jworch
+++ tutorials:uimacpp_groovy [2013/03/13 13:19] (current) – jworch
@@ Line 1: / Line 1: @@
+====== 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.