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Visual Servoing Platform version 3.7.0
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Visual Servoing Platform version 3.7.0
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In this tutorial you will learn how to install ViSP from source on Windows 11 with MinGW-W64. These steps have been tested with CMake 3.24.2 and MinGW-W64 10.0 (UCRT).
C:\> gcc --version gcc (MinGW-W64 i686-ucrt-posix-dwarf, built by Brecht Sanders) 12.2.0 Copyright (C) 2022 Free Software Foundation, Inc. This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
CMake could be download from http://www.cmake.org. Download the latest release for Windows win64-x64 platform (at the time this tutorial was written it was the file cmake-3.24.2-windows-arm64.msi). To install just double click on the msi file.
Install Git for Windows from https://git-for-windows.github.io/. Keep the default settings during installation. This installation allows then to use git in a cmd Command Prompt.
If not already done, create a workspace that will contain all ViSP source, build, data set and optional 3rd parties. This workspace is here set to C:\visp-ws folder, but it could be set to any other location.
To create the workspace, open a cmd Command Prompt (a fast way to launch this window is to press the Win + R keys on your keyboard. Then, type cmd or cmd.exe and press Enter or click/tap OK) and run the following to create a workspace environment var named VISP_WS:
C:\> setx VISP_WS "C:\visp-ws" C:\> exit
Open a new cmd Command Prompt and create the corresponding folder
C:\> mkdir %VISP_WS% C:\> exit
In this section, we give minimal instructions to build ViSP from source just to try ViSP without entering in 4. Advanced ViSP installation.
C:\> cd %VISP_WS% C:\> git clone https://github.com/lagadic/visp.git
C:\> mkdir %VISP_WS%\visp-build-mingw C:\> cd %VISP_WS%\visp-build-mingw
C:\> cmake -G "MinGW Makefiles" %VISP_WS%\visp
C:\> cmake --build . --config Release --target install -j4
C:\> setx VISP_DIR "%VISP_WS%\visp-build-mingw\install" C:\> exit
To have a trial, just jump to 5. Install ViSP data set before running some binaries that you just build or jump to 8. Next tutorial. You can later come back to the 4. Advanced ViSP installation.
ViSP is interfaced with several 3rd party libraries. Follow the link to see the complete list of Supported Third-Party Libraries. We recommend to install 4.1.2. Eigen3 and 4.1.1. OpenCV in the workspace.
4.1.1.1. Get OpenCV
First you have to get OpenCV:
4.1.1.2. Configure, build and install OpenCV from source
C:\> cd %VISP_WS%\3rdparty\opencv-4.6.0 C:\> mkdir build-mingw && cd build-mingw
C:\> cmake -G "MinGW Makefiles" ..\sources -DCMAKE_INSTALL_PREFIX=%VISP_WS%\3rdparty\opencv-4.6.0\build \
-DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF
C:\> cmake --build . --config Release --target install -j4
4.1.1.3. Complete OpenCV installation
Now you have to complete OpenCV installation setting some environment vars:
C:\> setx OpenCV_DIR "%VISP_WS%\3rdparty\opencv-4.6.0\build" C:\> exitwhere %VISP_WS%\3rdparty\opencv-4.6.0\build is where you have installed OpenCV. Inside this folder you should have a file named OpenCVConfig.cmake.
Even if Eigen3 is designed as a template we recommend to install the library with MinGW.
4.1.2.1. Get Eigen3
4.1.2.2. Build and install Eigen3 from source
C:\> cd %%VISP_WS%\3rdparty\eigen-3.4.0 C:\> mkdir build-mingw && cd build-mingw
C:\> cmake -G "MinGW Makefiles" .. -DCMAKE_INSTALL_PREFIX=%VISP_WS%\3rdparty\eigen-3.4.0\build-mingw\install
C:\> cmake --build . --config Release --target install -j4
4.1.2.3. Complete Eigen3 installation
Now you have to complete Eigen3 installation setting some environment vars:
C:\> setx Eigen3_DIR "%VISP_WS%\3rdparty\eigen-3.4.0\build-mingw\install\share\eigen3\cmake" C:\> exitwhere %VISP_WS%\3rdparty\eigen-3.4.0\build-mingw\install is where you have installed Eigen3. Inside the folder %VISP_WS%\3rdparty\eigen-3.4.0\build-mingw\install\share\eigen3\cmake you should have a file named Eigen3Config.cmake.
There are different ways to get ViSP source code.
C:\> cd %VISP_WS% C:\> git clone https://github.com/lagadic/visp.git
We suppose now that ViSP source is in %VISP_WS%\visp.
The goal of the configuration step is now to use CMake to produce a Visual Studio C++ solution file that will be located in %VISP_WS%/visp-build-mingw.
C:\> cd %VISP_WS%\visp-build-mingw C:\> mingw32-make -j4
C:\> mingw32-make -j4 install
To build ViSP documentation, you have first to install Doxygen:
C:\> cd %VISP_WS%\visp-build-mingw
C:\> cmake -G "MinGW Makefiles" %VISP_WS%\visp
C:\> cmake --build . --config Release --target visp_doc
The generated documentation is then available in $VISP_WS/visp-build-mingw/doc/html/index.html
C:\> npm install mathjax C:\> cmake -G "MinGW Makefiles" %VISP_WS%\visp -DUSE_MATHJAX=ON C:\> cmake --build . --config Release --target visp_doc
C:\> cmake -G "MinGW Makefiles" %VISP_WS%\visp -DENABLE_FULL_DOC=ON C:\> cmake --build . --config Release --target visp_doc
Modify the Path var to add the path to ViSP dll libraries. To this end open the "Edit environment variable" UI, and modify Path to add a new line with %VISP_WS%\visp-build-mingw\install\x64\mingw\bin.
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:
C:\> setx VISP_DIR "%VISP_WS%\visp-build-mingw\install" C:\> exit
Some ViSP examples and tests require a dataset that contains images, video, models that is not part of ViSP source code. This dataset 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:
C:\> setx VISP_INPUT_IMAGE_PATH %VISP_WS%\visp-images-3.6.0 C:\> exit
C:\> cd %VISP_WS% C:\> git clone https://github.com/lagadic/visp-images.git
C:\> setx VISP_INPUT_IMAGE_PATH %VISP_WS%\visp-images C:\> exit
From now, you can try to run ViSP examples and tests. For example, if you want to run %VISP_WS%\visp-build-mingw\example\device\display\displayGDI.exe, open a cmd Command Prompt, enter in the right folder and run:
C:\> cd %VISP_WS%\visp-build-mingw\example\device\display C:\> displayGDI.exe A click to close the windows... A click to display a cross... Cross position: 392, 306 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-mingw $ 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.
Finally, you need to rebuild ViSP with:
$ mingw32-make
After ViSP installation, you can remove installed material using:
$ cd $VISP_WS/visp-build-mingw $ mingw32-make uninstall
If you want to build only ViSP modules libraries, nor the examples, tutorials and tests:
$ cd $VISP_WS%/visp-build-mingw $ mingw32-make visp_modules
If you want to build a given module and all the dependencies:
$ cd $VISP_WS%/visp-build-mingw $ mingw32-make visp_<module_name>
For example to build the model-based tracker module named mbt, run:
$ cd $VISP_WS%/visp-build-mingw $ mingw32-make visp_mbt
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-mingw. We provide hereafter an example of a possible content of this file that contains also build info.
$ type %VISP_WS%/visp-build-mingw/ViSP-third-party.txt
==========================================================
General configuration information for ViSP 3.5.1
Version control: v3.5.0-193-g039940ad2-dirty
Platform:
Timestamp: 2022-10-01T20:15:29Z
Host: Windows 10.0.22598 ARM64
CMake: 3.24.2
CMake generator: MinGW Makefiles
CMake build tool: C:/mingw32/bin/mingw32-make.exe
Configuration: Release
System information:
Number of CPU logical cores: 8
Number of CPU physical cores: 8
Total physical memory (in MiB): 10232
OS name: Windows
OS release: Professional
OS version: (Build 22598)
OS platform: ARM64
CPU name:
Is the CPU 64-bit? yes
Does the CPU have FPU? no
CPU optimization: SSE2 SSE3
C/C++:
Built as dynamic libs?: yes
C++ Compiler: C:/mingw32/bin/c++.exe (ver 12.2.0)
C++ flags (Release): -Wall -Wextra -fopenmp -std=c++17 -fvisibility=hidden -msse2 -msse3 -mno-ssse3 -ffloat-store -O3 -DNDEBUG
C++ flags (Debug): -Wall -Wextra -fopenmp -std=c++17 -fvisibility=hidden -msse2 -msse3 -mno-ssse3 -ffloat-store -g
C Compiler: C:/mingw32/bin/gcc.exe
C flags (Release): -Wall -Wextra -fopenmp -std=c++17 -fvisibility=hidden -msse2 -msse3 -mno-ssse3 -ffloat-store -O3 -DNDEBUG
C flags (Debug): -Wall -Wextra -fopenmp -std=c++17 -fvisibility=hidden -msse2 -msse3 -mno-ssse3 -ffloat-store -g
Linker flags (Release):
Linker flags (Debug):
Use cxx standard: 17
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
Windows RT support: no
Python (for build): NO
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: no
\- Use GSL: no
\- Use Lapack (built-in): yes (ver 3.2.1)
Use Eigen3: yes (ver 3.4.0)
Use OpenCV: yes (ver 4.6.0)
Simulator:
Ogre simulator:
\- Use Ogre3D: no
\- 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: no
Use PNG: no
\- Use ZLIB: no
Use OpenCV: yes (ver 4.6.0)
Use stb_image (built-in): yes (ver 2.27.0)
Real robots:
Use Afma6: no
Use Franka: no
Use Viper650: no
Use Viper850: no
Use ur_rtde: no
Use Kinova Jaco: no
Use aria (Pioneer): no
Use PTU46: no
Use Biclops PTU: no
Use Flir PTU SDK: no
Use MAVSDK: no
Use Parrot ARSDK: no
\-Use ffmpeg: no
Use Virtuose: no
Use qbdevice (built-in): yes (ver 2.6.0)
Use takktile2 (built-in): no
GUI:
Use X11: no
Use GTK: no
Use OpenCV: yes (ver 4.6.0)
Use GDI: yes
Use Direct3D: no
Cameras:
Use DC1394-2.x: no
Use CMU 1394: no
Use V4L2: no
Use directshow: no
Use OpenCV: yes (ver 4.6.0)
Use FLIR Flycapture: no
Use Basler Pylon: no
Use IDS uEye: no
RGB-D sensors:
Use Realsense: no
Use Realsense2: no
Use Occipital Structure: no
Use Kinect: no
\- Use libfreenect: no
\- Use libusb-1: no
\- Use pthread: no
Use PCL: no
\- Use VTK: no
F/T sensors:
Use atidaq (built-in): no
Use comedi: no
Use IIT SDK: no
Mocap:
Use Qualisys: no
Use Vicon: no
Detection:
Use zbar: no
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: no
Optimization:
Use OpenMP: yes
Use pthread: no
Use pthread (built-in): yes (ver 3.0.1)
Use Simd: yes (ver 4.9.109)
DNN:
Use CUDA Toolkit: no
Use TensorRT: no
Documentation:
Use doxygen: yes
\- Use mathjax: no
Tests and samples:
Use catch2 (built-in): yes (ver 2.13.7)
Tests: yes
Demos: yes
Examples: yes
Tutorials: yes
Install path: C:/visp-ws/visp-build-mingw/install
==========================================================
This issue occurs with OpenCV 4.5.0 and is referenced here.
C:\>cmake --build . --config Release --target install ... [ 44%] Building RC object modules/core/CMakeFiles/opencv_core.dir/vs_version.rc.obj gcc: error: long: No such file or directory C:\PROGRA~1\MINGW-~1\X86_64~1.0-P\mingw64\bin\windres.exe: preprocessing failed. mingw32-make.exe[2]: *** [modules\core\CMakeFiles\opencv_core.dir\build.make:1494: modules/core/CMakeFiles/opencv_core.dir/vs_version.rc.obj] Error 1 mingw32-make.exe[1]: *** [CMakeFiles\Makefile2:1770: modules/core/CMakeFiles/opencv_core.dir/all] Error 2 mingw32-make.exe: *** [Makefile:181: all] Error 2
The workaround is to configure OpenCV build using cmake -DOPENCV_ENABLE_ALLOCATOR_STATS=OFF like:
C:\> cd %VISP_WS%\opencv-4.5.0\build-mingw
C:\> cmake -G "MinGW Makefiles" ..\sources -DCMAKE_INSTALL_PREFIX=%VISP_WS%\opencv-4.5.0\build \
-DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DWITH_OPENCL_D3D11_NV=OFF -DOPENCV_ENABLE_ALLOCATOR_STATS=OFF
C:\> cmake --build . --config Release --target install -j4
This issue occurs with OpenCV 4.1.1 and is referenced here.
If you encounter the following issue during OpenCV build:
you have to disable OpenCL D3D11 support and restart a new build:
C:\> cd %VISP_WS%\opencv-4.1.1\build-mingw
C:\> cmake -G "MinGW Makefiles" ..\sources -DCMAKE_INSTALL_PREFIX=%VISP_WS%\opencv-4.1.1\build \
-DWITH_OPENCL_D3D11_NV=OFF
C:\> cmake --build . --config Release --target install
If you encounter the following issue during CMake configuration
Edit %VISP_WS%\opencv-2.y.z\sources\CMakeLists.txt file, and line 464 replace:
test_big_endian(WORDS_BIGENDIAN)
by:
#test_big_endian(WORDS_BIGENDIAN) set(WORDS_BIGENDIAN 0)
If you encounter a build issue during libtiff build as given in the next image:
cd %VISP_WS%\opencv-2.y.z\sources\build-mingw C:\> mingw32-make
The following image shows the link issue that may appear when building OpenCV with MinGW:
A work around is to configure OpenCV without ipp support turning WITH_IPP=OFF and then trying to build again.
This error that occurs with OpenCV 3.0.0 during cap_dshow.cpp build is known and reported as an issue in https://github.com/Itseez/opencv/pull/5282/commits.
#ifdef __MINGW32__ // MinGW does not understand COM interfaces #pragma GCC diagnostic ignored "-Wnon-virtual-dtor" #endif
if(CMAKE_OPENCV_GCC_TARGET_MACHINE MATCHES "64")by:
if(OPENCV_GCC_TARGET_MACHINE MATCHES "64")
C:\> cd %VISP_WS%\opencv-2.y.z\sources\build-mingw C:\> mingw32-make install
When running mingw32-make if you get the following issue:
the workaround consists in:
When running mingw32-make if you get the following issue:
the workaround consists in:
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.
1.15.0