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Dependencies.md

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Dependencies

  1. robotology superbuild [optional]: Install the robotology superbuild on a Windows machine as described here Windows installation notes:

    1. opencv: Currently there are open issues dicussed in #145 related to the opencv package installation from robotlogy superbuild. Instead, install it from the opencv website, version 3.4.4;
  • if you don't want to use superbuild for installation, skip it and go directly to second dependency (YARP)

  1. YARP: Using superbuild install the YARP: to handle the comunication with the robot with both ovrheadset and SDLjoypad drivers;

    • if you are not using superbuild, look at this link for installing YARP.

  2. QT5 and Eigen3: In the Super-build, enable the QT5 and Eigen3 to install (follow the instructions here).

  3. Oculus SDK: In order to install the oculus SDK, you need to install first the Oculus app on windows (oculus application), install the depenecies(GLEW, GLFW3), and finally install the sdk (LibOVR):

    1. oculus application: Download and install the oculus setup application. It is used for both the Oculus Virtual Reality headset (ovrheadset) and joypads (touch controller).

    2. GLEW: Dowload the version 2.1.0 of the glew libarary from thislink (if you want to dowload from the glew libarary select the source file)

      • extract and copy the glew library to your robot/code workspace (in our case in same path of robotology-superbuild)

      • the library has the makefiles, so go to the 'glew\glew-2.1.0\glew-2.1.0\build\vc12' and using the VS15 (VS 2017) build the library (release and debug!)

      • Add the following variables value in robotology/yarp using CMake GUI (search for glew!)

          `GLEW_INCLUDE_DIR`: '<path to codes workspace>/glew/glew-2.1.0/glew-2.1.0/include
   (inside this folder you should find the GL folder and inside that the header files)

  `GLEW_LIBRARY_DEBUG`: '<path to codes workspace>/glew/glew-2.1.0/glew-2.1.0/lib/Debug/x64/glew32d.lib'

  `GLEW_LIBRARY_RELEASE`: '<path to codes workspace>/glew/glew-2.1.0/glew-2.1.0/lib/Release/x64/glew32.lib'
  
  `YARP_USE_GLEW`: check the box

      • Append the following directories to the Path User environmental variable, for example using the Rapid Environment Editor:

            `Path`: (Expandable string)
        `<path to codes workspace>\glew\glew-2.1.0\glew-2.1.0\bin\Release\x64`
        `<path to codes workspace>\glew\glew-2.1.0\glew-2.1.0\bin\Debug\x64`

      • Don't forget to configure, generate the cmake (cmake gui --> robotology yarp) and build release mode the yarp using vs15.

      • if you have problems to install git repo may help you.

    3. GLFW3: To download this library go to website1 or website2. Download the "Source package" among the available ones, the version of it is "3.2.1".

      • Place the package in your workspace (in our case in same path of robotology-superbuild)

      • Use CMake GUI to to configure and generate the project.

      • After that using the VS15 (VS 2017) build the project.

      • Add the following paths to the variables of robotology/YARP (cmake gui --> robotology yarp); as the yarpdev which gets the data from the sdk of the ovr and publishes in yarp framework, has dependencies on this library:

          `GLFW3_DIR`: `<path to codes workspace>/glfw/glfw-3.2.1/glfw-3.2.1/build/install/lib/cmake/glfw3` (inside this folder you should find the cmake files)

  `GLFW3_INCLUDE_DIR`: `<path to codes workspace>/glfw/glfw-3.2.1/glfw-3.2.1/build/install/include` (inside that you should find the GLFW folder, and inside it the header files)

  `GLFW3_OPENGL_DIR`: `<path to codes workspace>/glfw/glfw-3.2.1/glfw-3.2.1/build/install/lib` (you should be able to find the glfw.lib file)
  `YARP_USEGLFW3`: check the box

      • Add the following varibale to the User environmental variable:

          `GLFW3_DIR`= `<path to codes workspace>\glfw\glfw-3.2.1\glfw-3.2.1\build\install` (variable type is String)

      • Don't forget to configure, generate the cmake (cmake gui --> robotology yarp) and build release mode the yarp using vs15.

      • if you have problems with compiling GLFW, this link or here may help.

    4. LibOVR: to dowload the SDK, you can go to this website, choose "Native Windows", then "Core Package: OCULUS SDK for windows". Select the version 1.16.0 to download. Or easily follow this link and choose version 1.16.0 to download.

    • Extract and place the package in your workspace (in our case in same path of robotology-superbuild), inside that there are two libraries which we need: LibOVR, and LibOVRKernel.

    • Build (both release and debug) the projects inside the sdk using VS15:

      \LibOVR\Projects\Windows\VS2015\LibOVR.vcxproj

      \LibOVRKernel\Projects\Windows\VS2015\LibOVRKernel.vcxproj

    • Add the following paths to the variables of robotology/YARP (because the yarpdev which gets the data from the sdk of the ovr and publishes in yarp framework, has dependencies on this library)

        `LibOVR_LibOVRKernel_INCLUDE_DIR`:`<path to codes workspace>/OculusSDK/LibOVRKernel/Src`
  
  `LibOVR_LibOVRKernel_LIBRARY_DEBUG`:`<path to codes workspace>/OculusSDK/LibOVRKernel/Lib/Windows/x64/Debug/VS2015/LibOVRKernel.lib`

  `LibOVR_LibOVRKernel_LIBRARY_RELEASE`: `<path to codes workspace>/OculusSDK/LibOVRKernel/Lib/Windows/x64/Release/VS2015/LibOVRKernel.lib`

  `LibOVR_LibOVR_Extras_INCLUDE_DIR`: `<path to codes workspace>/OculusSDK/LibOVR/Include/Extras`

  `LibOVR_LibOVR_INCLUDE_DIR:PATH`: `<path to codes workspace>/OculusSDK/LibOVR/Include`

  `LibOVR_LibOVR_LIBRARY_DEBUG`: `<path to codes workspace>/OculusSDK/LibOVR/Lib/Windows/x64/Debug/VS2015/LibOVR.lib`

  `LibOVR_LibOVR_LIBRARY_RELEASE`: `<path to codes workspace>/OculusSDK/LibOVR/Lib/Windows/x64/Release/VS2015/LibOVR.lib`

  `YARP_USE_LOBOVR`: check the box

    • Add and append the following variables to the User environmental variable:

        `OculusSDK_ROOT`= `<path to codes workspace>\OculusSDK' (variable type is String)`
  `Path`= `<path to codes workspace>\OculusSDK\3rdParty\Windows Kits\8.1\Redist\D3D\x64`

    • Configure, generate the cmake (cmake gui --> robotology yarp) and build the yarp using vs15.

  4. Cyberith SDK: To allow the virtualizer module to capture the operator data, the virtualizer needs two modules to download: the CybSDK_app (used for the calibration!) and the CybSDK:

    1. CybSDK_app: you can download the application from this link. Go to 'Tools' tab, download the 'Virtualizer Control Panel'. Copy the download application to the workspace. Everytime start using the virtualizer, please calibrate it using this application.

    2. CybSDK: you can download the application from this link. Go to 'SDK' tab, download the 'C++ SDK for Windows (Developed for: Visual Studio 2015 Community)'. Copy the download application to the workspace. in theory, we should build it in our Windows machine, but time being it is already built (there exists the .dll file) and is working, so you do not need to build it.

      • Append the following variables to the User environmental variable Path:

          `Path`= `<path to codes workspace>\CybSDK\src\CybSDK_Windows_Cpp_Console\Plugins\x86_64`