.. include:: ../js.rst

.. _install:

#########################
Installation Instructions
#########################

.. image:: /icons/185px/install.png

ICL can be downloaded as source code via svn or as binary debian
packages (soon). Please refer to the :ref:`download
instructions<download>` for details. ICL uses stardard CMake as its
build system (for more details on CMake visit http://www.cmake.org/)
ICL comes with only very few installation dependencies. We decided
to make a small set of dependencies compulsory in order to limit
the set of possible combinations.



Table of Contents
^^^^^^^^^^^^^^^^^
* :ref:`install.dependencies`

  * :ref:`install.dependencies.mandatory`
  * :ref:`install.dependencies.optional`

* :ref:`install.source`
* :ref:`install.binary`
* :ref:`install.special`


.. _install.dependencies:

External Dependencies
^^^^^^^^^^^^^^^^^^^^^

Most external dependencies are kept purely optional. The few mandatory
dependencies are very general libraries already installed on most
systems. For the debian-package based install, dependencies are
automatically installed recursively by the package manager. However,
the debian package-based installation does only include dependencies
that are available as standard debian packages.

.. _install.dependencies.mandatory:

Mandatory Dependencies
^^^^^^^^^^^^^^^^^^^^^^

* **libpthread** (for general threading support)
* **libz** (for reading and writing zipped files, ending .gz)
* **libjpeg** (for reading and writing jpeg images, 
  lossy but high compression, fast)
* **libpng** (for reading and writing png images,
  loss-less compression, but rather slow in comparison to jpeg)

In case of compiling ICL manually from source, the *-dev* packages
that include C/C++-headers are needed. The corresponding Ubuntu
packages can be installed via::

  sudo apt-get install libjpeg-dev libpng-dev libz-dev 

The libpthread-dev library comes with the C/C++ compiler


.. _install.dependencies.optional:

Optional Dependencies
^^^^^^^^^^^^^^^^^^^^^

In general each optional dependency adds some extra functionality to
ICL. In some of the cases, also a slower but native fallback
implementation is provided. In the following, the external
dependencies are listed and their benefits are explained.

Overview:
"""""""""
* :ref:`install.dependencies.optional.ipp`
* :ref:`install.dependencies.optional.mkl`
* :ref:`install.dependencies.optional.opencv`
* :ref:`install.dependencies.optional.libmesasr`
* :ref:`install.dependencies.optional.imagemagick`
* :ref:`install.dependencies.optional.libdc`
* :ref:`install.dependencies.optional.libfreenect`
* :ref:`install.dependencies.optional.qt`
* :ref:`install.dependencies.optional.pylon`
* :ref:`install.dependencies.optional.openni`
* :ref:`install.dependencies.optional.opencl`
* :ref:`install.dependencies.optional.pcl`
* :ref:`install.dependencies.optional.rsb`



.. _install.dependencies.optional.ipp:

Intel Integrated Performance Primitives (Intel IPP)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

The Intel IPP is a proprietary library that provides a very large set
of highly optimized functions for different domains, such as linear
algebra and in particular computer-vision and image
processing. **Important:** Since Intel IPP is proprietary software,
Intel IPP linkage must be established by manually compiling ICL from
source. However, we plan to replace the static linkage against Intel
IPP with a run-time linking approach that would also work for binary
installation sources.

* **Supported Versions:** >= 6.1 (Newer Linux Versions require Version
  >= 7.06)
* **License Type:** Proprietary, but free to try and for private use
  (research is not private)
* **Download at:** http://software.intel.com/en-us/intel-ipp/
* **Dependent library features:** Most low-level image processing
  functions such as scaling, converting and linear filters are
  internally replaced by highly efficient Intel IPP function calls.
  The :icl:`filter::CannyOp` Canny edge detector and the
  :icl:`filter::ProximityOp` filters are not available without Intel
  IPP yet (but we plan to add fallback implementations soon).
* **Ubuntu packages:** not available

.. _install.dependencies.optional.mkl:

Intel Math Kernel Library (Intel MKL)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

The Intel Math Kernel Library dependency is quite similar to the Intel
IPP dependency. However, Intel MKL is only used for a much smaller set
of linear algebra functions. Global mathematical utility functions
such as :icl:`math::big_matrix_mult_t` or :icl:`DynMatrix::big_matrix_pinv`
significantly accelerated if Intel MKL is available. However, in
contrast to the Intel IPP dependency, all MKL-accelerated functions
have an equivalent C++ fallback implementation.


* **Supported Versions:** >= 10.3
* **License Type:** Proprietary, but free to try and for private use
  (research is not private)
* **Download at:** http://software.intel.com/en-us/intel-mkl/
* **Dependent library features:** Accelerated functions for big
  matrices, most of them located in :icl:`DynMatrixUtils.h`
* **Ubuntu packages:** not available



.. _install.dependencies.optional.opencv:

Open Computer Vision Library (OpenCV)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

We use OpenCV mainly in order to provide a compatibility interface
that converts OpenCV's common image data types **IplImage** and
**CvMat** into ICL's images type :icl:`core::ImgBase` and vice versa.
the header :icl:`OpenCV.h` in the ICLCore module provides efficient and simple
to use converter methods. These are only available if the OpenCV
dependency is met. In addition, OpenCV is currently needed for the
LibOpenSurf (http://www.chrisevansdev.com/computer-vision-opensurf.html)
based backend of the :icl:`cv::SurfFeatureDetector` which is directly
part of ICL.

* **Supported Versions:** >= 2.1
* **License Type:** BSD-License
* **Download at:** http://sourceforge.net/projects/opencvlibrary/files
* **Dependent library features:** 
  
  * Data type conversions 
  * C++-based surf feature detection
  * OpenCV-based camera grabber backend
  * OpenCV-based video grabber backend
  * Video-writer backend
  * intrinsic camera calibration tool

* **Ubuntu packages:**

  * **<  precise:** libcv-dev, libhighgui-dev, libcvaux-dev 
  * **>= precise:** libopencv-dev 


.. _install.dependencies.optional.libmesasr:

SwissRanger Driver Library (libMesaSR)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

LibMesaSR is a proprietary library that allows to grab images from
SwissRanger 3D time-of-flight cameras provided by the Mesa Imaging
company (http://www.mesa-imaging.ch) The library is closed source.

* **Supported Versions:** >= 1.0.14
* **License Type:** Proprietary
* **Download at:** http://www.mesa-imaging.ch/drivers.php
* **Dependent library features:** SwissRanger camera grabber backend
* **Ubuntu packages:** not available
  

.. _install.dependencies.optional.imagemagick:

Image Magick (libmagick++)
~~~~~~~~~~~~~~~~~~~~~~~~~~

ImageMagick is used to provide a large set of support image types. Most
types are supported in both reading and writing. Without ImageMagick, only
a few image data types are supported: .ppm, .pnm and .pgm as well as ICL's
internal image format .bicl are natively supported, .png and .jpg are
supported explicitly by other external dependencies.

* **Supported Versions:** >= 1.0.14
* **License Type:** Proprietary
* **Download at:** http://www.imagemagick.org/script/index.php
* **Dependent library features:** huge set of image reading and writing backends
* **Ubuntu packages:** libmagick++-dev


.. _install.dependencies.optional.libdc:

libdc1394
~~~~~~~~~

The dc1394 (digital firewire camera) library allows to grab image from
firewire cameras and to set camera parameters. 

* **Supported Versions:** >= 2.1.2
* **License Type:** open source
* **Download at:** http://damien.douxchamps.net/ieee1394/libdc1394/
* **Dependent library features:** firewire camera grabber backend
* **Ubuntu packages:** libdc1394-22-dev

.. _install.dependencies.optional.libfreenect:

OpenKinect Kinect Driver Library (libfreenect)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

The libfreenect provides a lightweight interface for grabbing images
from Microsoft Kinect cameras. The library allows to grab color, depth and 
IR-images and to set some internal camera properties

* **Supported Versions:** >= 0.0.1
* **License Type:** open source
* **Download at:** https://github.com/OpenKinect/libfreenect
* **Dependent library features:** libfreenect-based access to Kinect cameras
  (Please note, that we also provide an alternative using OpenNI)
* **Ubuntu packages:**  libfreenect-dev

Xine (libxine)
~~~~~~~~~~~~~~

The xine library provides a very intuitive yet powerful interface for
grabbing video in a frame-by-frame manner.

* **Supported Versions:** >= 1.1.17
* **License Type:** open source
* **Download at:** http://www.xine-project.org/home
* **Dependent library features:** xine-based video grabber backend
  (Please note, that we also provide an alternative using OpenCV)
* **Ubuntu packages:**  libxine-dev

.. _install.dependencies.optional.qt:

Qt Library (libQt4)
~~~~~~~~~~~~~~~~~~~

The well known Qt Library is used for ICL's rapid GUI creation toolkit.
Actually Qt is also a prerequisite for most ICL applications and for
the whole ICLQt module. We strongly recommend to have at least Qt support
when building ICL

* **Supported Versions:** 4
* **License Type:** open source
* **Download at:** http://qt.digia.com/
* **Dependent library features:** 

  * GUI-framework and all dependent applications
  * Shared memory based image-I/O backends

* **Ubuntu packages:**  libqt4-dev


.. _install.dependencies.optional.pylon:

Basler Pylon Drivers
~~~~~~~~~~~~~~~~~~~~
The closed source basler pylon drivers (including the Genicam libraries) are
used for accessing Gigabit-Ethernet (GIG-E) cameras.

* **Supported Versions:** >= 2.3.3
* **License Type:** closed source
* **Download at:** http://www.baslerweb.com/Downloads-Software-43868.html
* **Dependent library features:** Pylon grabber backend for GIG-E Cameras
* **Ubuntu packages:**  not available

(see also :ref:`install.special.pylon`)

.. _install.dependencies.optional.opencl:

Open Computing Language (OpenCL)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

OpenCL is used to significantly speed up a set of processing units using
the computing units of graphics cards or other OpenCL platforms. We mainly use it
for point cloud processing units located in the ICLGeom module

* **Supported Versions:** >= 1.1 (1.2 soon)
* **License Type:** opensource
* **Download at:** http://www.khronos.org/registry/cl
* **Dependent library features:** 

  * significantly faster point cloud creation and RGBD-mapping 
    (:icl:`geom::PointCloudCreator`, :icl:`geom::DepthCameraBasedPointCloudGrabber`)
  * significantly faster point cloud normal estimation and segmentation
    (:icl:`geom::PointCloudNormalEstimator`)

* **Ubuntu packages:**  opencl-headers (the library must be shipped with the graphics driver)



.. _install.dependencies.optional.openni:



OpenNI / Nite
~~~~~~~~~~~~~

Right now, we only use OpenNI as an alternative backend to grab images
from Kinect and other PrimeSense 3D cameras

* **Supported Versions:** >= 1.x
* **License Type:** OpenNI: opensource, Nite: closed source
* **Download at:** http://www.openni.org/
* **Dependent library features:** OpenNI-based grabber backend for depth, IR- and color images
* **Ubuntu packages:**  TODO

(see also :ref:`install.special.openni`)

.. _install.dependencies.optional.pcl:

Point Cloud Library (PCL)
~~~~~~~~~~~~~~~~~~~~~~~~~

PCL has become some kind of a quasi-standard for point cloud
processing.  ICL's ICLGeom module provides the generic
:icl:`geom::PointCloudObjectBase` interface that is implemented by the
:icl:`geom::PCLPointCloudObject` class. In case of having PCL support,
ICL can seamlessly interface to PCL algorithms using this class.

* **Supported Versions:** >= 1.6
* **License Type:** open source
* **Download at:** http://pointclouds.org/downloads/
* **Dependent library features:** 

  * :icl:`geom::PCLPointCloudObject` class.
  * :icl:`geom::PCDFileGrabber` class

* **Ubuntu packages:**  no in standard

  * add ppa-sources from https://launchpad.net/~v-launchpad-jochen-sprickerhof-de/+ppa-packages
  * libpcl-all-dev

.. todo::

   There is an unsolved dependency between PCL and OpenNI, since
   our PCD-File Grabber uses libpcl-io, which in turn depends on
   openni.

.. _install.dependencies.optional.rsb:


Robotics Service Bus (RSB)
~~~~~~~~~~~~~~~~~~~~~~~~~~

The robotics service bus is a new and versatile library for
interprocess communications.  ICL uses it as backends for the
:icl:`io::GenericGrabber` and the :icl:`io::GenericImageOutput` to
exchange image data between different processes and PCs.

* **Supported Versions:**  0.7
* **License Type:** open source
* **Download at:** http://docs.cor-lab.de//rsb-manual/0.7/html/index.html
* **Dependent library features:** rsb-based image I/O backends
* **Ubuntu packages:**  no in standard, but on the same server as
  the ICL debian packages sources soon

   
.. _install.source:

Installaion from Source
"""""""""""""""""""""""




.. _install.binary:

Installaion using Binary Packages
"""""""""""""""""""""""""""""""""



.. _install.special:

Special Installation Tutorials
""""""""""""""""""""""""""""""

Since some special dependencies are more difficult to get running, we will
here share our experiences with you.

.. _install.special.pylon:

Installing and Using Basler Pylon Drivers
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Download binary packages e.g.

* 32bit: http://www.baslerweb.com/7/0/9/9/pylon-2.3.3-1337-32.tar.gz
* 64bit: http://www.baslerweb.com/7/0/9/9/pylon-2.3.3-1337-64.tar.gz

For developing and running applications with pylon two environment variables must be exported::

  export PYLON_ROOT=/your-desired-install-directory
  export GENICAM_ROOT_V2_1=${PYLON_ROOT}/genicam

To extract and install pylon type::

  tar -xzf pylon-2.3.3-1337-32.tar.gz # ...-62-tar-gz for 64-bit version
  cd pylon-2.3.3-1337-bininst/

  mkdir $(PYLON_ROOT) # if not already existing
  tar -C $(PYLON_ROOT) -xzf pylon-bininst-32.tar.gz # ...-62-tar-gz for 64-bit version

Because of the way Pylon is using shared libraries it may be, that
some libraries form the Pylon distribution can not be found at
runtime, although the corresponding path is provided in the
rpath-list. In this case it is necessary to add the following library
search path.::

  export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${PYLON_ROOT}/lib
  export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${PYLON_ROOT}/genicam/bin/Linux32_i86

or for 64-bit version::

  export LD_LIBRARY_PATH=${PYLON_ROOT}/lib64

**Further suggestions:**

To check whether pylon can establish a connection to a camera the
IpConfigurator can be used.::

  export PATH=${PATH}:${PYLON_ROOT}/bin
  IpConfigurator

When the IpConfigurator does not find the camera, Pylon and
accordingly ICL will neither. In that case the camera is most likely
not in the same ip-address block. Unfortunately it is not possible to
change the cameras ip-settings without the IpConfigurator. There are
two known workarounds in this case. Setting the ip-address of the
computer to the same address block as the camera or using the Windows
version of the IpConfigurator - which does not seem to have this
problem - to change the cameras ip settings once to the correct block.

.. _install.special.openni:

Installing OpenNI / Nite
~~~~~~~~~~~~~~~~~~~~~~~~

.. todo:: write how to install use OpenNI and Nite