install visp from source, cmake error

[jimingda]

Hi,

Initially, I tried to install ViSP from binaries on Ubuntu, but I encountered the following error:

$ sudo apt-get install libvisp-dev libvisp-doc visp-images-data
[sudo] password for icub: 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Package libvisp-dev is not available, but is referred to by another package.
This may mean that the package is missing, has been obsoleted, or
is only available from another source

E: Package 'libvisp-dev' has no installation candidate
E: Unable to locate package libvisp-doc

Then i built VISP on Ubuntu 20.04 from the source code, following these instructions. However, I encountered an error as following when running cmake ../visp.

Does anyone have an idea what the problem might be?
Thanks in advance.

icub@icubsrv:~/visp-ws/visp-build$ cmake ../visp
-- Detected processor: x86_64
-- pybind11 found
-- Required CMake version for Python bindings is 3.19.0,
  but you have 3.16.3.
  Python bindings generation will be deactivated.
  
-- The python version that you are using (/usr/bin/python3.8) is the system interpreter.
    pip packages should not be installed system-wide!
    Python bindings targets will be deactivated!
    To reenable them, install conda or virtualenv,
    delete the CMakeCache file then rerun cmake when inside the virtual environment.
    
-- Could NOT find MKL (missing: MKL_LIBRARIES MKL_INCLUDE_DIRS MKL_INTERFACE_LIBRARY MKL_SEQUENTIAL_LAYER_LIBRARY MKL_CORE_LIBRARY) 
-- Could not find OpenBLAS lib. Turning OpenBLAS_FOUND off
-- Could NOT find Atlas (missing: Atlas_CLAPACK_INCLUDE_DIR Atlas_CBLAS_LIBRARY Atlas_BLAS_LIBRARY) 
-- Try C99 flag = [-std=gnu99]
-- Performing Test C99_FLAG_DETECTED
-- Performing Test C99_FLAG_DETECTED - Success
-- dc1394 found
-- v4l2 found
-- Could NOT find FTIITSDK (missing: FTIITSDK_FT_LIBRARY FTIITSDK_COMMUNICATION_LIBRARY FTIITSDK_INCLUDE_DIR) 
-- openmp found
-- eigen3 found
-- Could NOT find Coin3D (missing: COIN3D_LIBRARIES COIN3D_INCLUDE_DIRS) 
-- Found YARP: /usr/local/src/robot/robotology-superbuild/build/install/lib/cmake/YARP (found version "3.7.0")
-- yarp found
-- Looking for OGRE_Paging...
-- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so
-- Looking for OGRE_Terrain...
-- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so
-- Looking for OGRE_Property...
-- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so
-- Looking for OGRE_RTShaderSystem...
-- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so
-- Looking for OGRE_Volume...
-- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so
-- Looking for OGRE_Overlay...
-- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so
-- ogre found
-- Checking for module 'OIS'
--   No package 'OIS' found
Package libusb was not found in the pkg-config search path.
Perhaps you should add the directory containing `libusb.pc'
to the PKG_CONFIG_PATH environment variable
No package 'libusb' found
-- libusb_1 found
-- realsense2 found
-- threads found
-- xml2 found
-- opencv found
-- zlib found
-- x11 found
-- jpeg found
-- png found
-- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
-- The imported target "vtkParseOGLExt" references the file
   "/usr/bin/vtkParseOGLExt-7.1"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "pvtk" references the file
   "/usr/bin/pvtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- pcl found
CUDA_TOOLKIT_ROOT_DIR not found or specified
-- Could NOT find CUDA (missing: CUDA_TOOLKIT_ROOT_DIR CUDA_NVCC_EXECUTABLE CUDA_INCLUDE_DIRS CUDA_CUDART_LIBRARY) 
-- nlohmann_json found
-- Performing Test HAVE_FUNC_ISNAN
-- Performing Test HAVE_FUNC_ISNAN - Success
-- Performing Test HAVE_FUNC_STD_ISNAN
-- Performing Test HAVE_FUNC_STD_ISNAN - Success
-- Performing Test HAVE_FUNC__ISNAN
-- Performing Test HAVE_FUNC__ISNAN - Failed
-- Performing Test HAVE_FUNC_ISINF
-- Performing Test HAVE_FUNC_ISINF - Success
-- Performing Test HAVE_FUNC_STD_ISINF
-- Performing Test HAVE_FUNC_STD_ISINF - Success
-- Performing Test HAVE_FUNC_ROUND
-- Performing Test HAVE_FUNC_ROUND - Success
-- Performing Test HAVE_FUNC_STD_ROUND
-- Performing Test HAVE_FUNC_STD_ROUND - Success
-- Performing Test HAVE_FUNC_ERFC
-- Performing Test HAVE_FUNC_ERFC - Success
-- Performing Test HAVE_FUNC_STD_ERFC
-- Performing Test HAVE_FUNC_STD_ERFC - Success
-- Performing Test HAVE_FUNC_ISFINITE
-- Performing Test HAVE_FUNC_ISFINITE - Success
-- Performing Test HAVE_FUNC_STD_ISFINITE
-- Performing Test HAVE_FUNC_STD_ISFINITE - Success
-- Performing Test HAVE_FUNC__FINITE
-- Performing Test HAVE_FUNC__FINITE - Failed
-- Performing Test HAVE_FUNC_LOG1P
-- Performing Test HAVE_FUNC_LOG1P - Success
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE) 
CMake Deprecation Warning at /usr/local/src/robot/robotology-superbuild/build/install/lib/cmake/YARP/YARPConfig.cmake:223 (message):
  The YARP_INCLUDE_DIRS variable is deprecated
Call Stack (most recent call first):
  modules/core/CMakeLists.txt:9999 (_yarp_deprecated_variable_warning)
  modules/core/CMakeLists.txt:164 (list)


CMake Deprecation Warning at /usr/local/src/robot/robotology-superbuild/build/install/lib/cmake/YARP/YARPConfig.cmake:223 (message):
  The YARP_DEFINES variable is deprecated
Call Stack (most recent call first):
  modules/core/CMakeLists.txt:9999 (_yarp_deprecated_variable_warning)
  modules/core/CMakeLists.txt:199 (add_definitions)


CMake Deprecation Warning at /usr/local/src/robot/robotology-superbuild/build/install/lib/cmake/YARP/YARPConfig.cmake:223 (message):
  The YARP_INCLUDE_DIRS variable is deprecated
Call Stack (most recent call first):
  modules/core/CMakeLists.txt:9999 (_yarp_deprecated_variable_warning)
  modules/core/CMakeLists.txt:164 (list)


CMake Deprecation Warning at /usr/local/src/robot/robotology-superbuild/build/install/lib/cmake/YARP/YARPConfig.cmake:223 (message):
  The YARP_DEFINES variable is deprecated
Call Stack (most recent call first):
  modules/core/CMakeLists.txt:9999 (_yarp_deprecated_variable_warning)
  modules/core/CMakeLists.txt:199 (add_definitions)


-- opencv nonfree or xfeature2d module not found
-- 
-- ==========================================================
-- General configuration information for ViSP 3.6.1
-- 
--   Version control:               v3.6.0-902-g7ece4ea25
-- 
--   Platform:
--     Timestamp:                   2024-05-20T07:10:57Z
--     Host:                        Linux 5.15.0-107-generic x86_64
--     CMake:                       3.16.3
--     CMake generator:             Unix Makefiles
--     CMake build tool:            /usr/bin/make
--     Configuration:               Release
-- 
--   System information:
--     Number of CPU logical cores: 8
--     Number of CPU physical cores: 4
--     Total physical memory (in MiB): 15713
--     OS name:                     Linux
--     OS release:                  5.15.0-107-generic
--     OS version:                  #117~20.04.1-Ubuntu SMP Tue Apr 30 10:35:57 UTC 2024
--     OS platform:                 x86_64
--     CPU name:                    Unknown P6 family
--     Is the CPU 64-bit?           yes
--     Does the CPU have FPU?       yes
--     CPU optimization:            SSE2 SSE3 SSSE3
-- 
--   C/C++:
--     Built as dynamic libs?:      yes
--     C++ Compiler:                /usr/bin/c++  (ver 9.4.0)
--     C++ flags (Release):         -Wall -Wextra -fopenmp -pthread -std=c++17 -fvisibility=hidden -msse2 -msse3 -mssse3 -fPIC -O3 -DNDEBUG
--     C++ flags (Debug):           -Wall -Wextra -fopenmp -pthread -std=c++17 -fvisibility=hidden -msse2 -msse3 -mssse3 -fPIC -g
--     C Compiler:                  /usr/bin/cc
--     C flags (Release):           -Wall -Wextra -fopenmp -pthread -std=c++17 -fvisibility=hidden -msse2 -msse3 -mssse3 -fPIC -O3 -DNDEBUG
--     C flags (Debug):             -Wall -Wextra -fopenmp -pthread -std=c++17 -fvisibility=hidden -msse2 -msse3 -mssse3 -fPIC -g
--     Linker flags (Release):      
--     Linker flags (Debug):        
--     Use cxx standard:            17
-- 
--   ViSP modules:
--     To be built:                 core dnn_tracker 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
-- 
--   Python 3:
--     Interpreter:                 /usr/bin/python3.8 (ver 3.8.10)
-- 
--   Java:                          
--     ant:                         no
--     JNI:                         /usr/lib/jvm/default-java/include /usr/lib/jvm/default-java/include/linux /usr/lib/jvm/default-java/include
-- 
--   Python3 bindings:              no
--     Requirements: 
--       Python version > 3.7.0:    ok (ver 3.8.10)
--       Python in Virtual environment or conda:
--                                  failed
--       Pybind11 found:            ok
--       CMake > 3.19.0:            failed (3.16.3)
--       C++ standard > 201703L:    ok (201703L)
-- 
--   Build options: 
--     Build deprecated:            yes
--     Build with moment combine:   no
-- 
--   OpenCV: 
--     Version:                     4.2.0
--     Modules:                     calib3d core dnn features2d flann highgui imgcodecs imgproc ml objdetect photo stitching video videoio aruco bgsegm bioinspired ccalib datasets dnn_objdetect dnn_superres dpm face freetype fuzzy hdf hfs img_hash line_descriptor optflow phase_unwrapping plot quality reg rgbd saliency shape stereo structured_light superres surface_matching text tracking videostab viz ximgproc xobjdetect xphoto
--     OpenCV dir:                  /usr/lib/x86_64-linux-gnu/cmake/opencv4
-- 
--   Mathematics: 
--     Blas/Lapack:                 yes
--     \- Use MKL:                  no
--     \- Use OpenBLAS:             no
--     \- Use Atlas:                no
--     \- Use Netlib:               no
--     \- Use GSL:                  yes (ver 2.5)
--     \- Use Lapack (built-in):    no
--     Use Eigen3:                  yes (ver 3.3.7)
--     Use OpenCV:                  yes (ver 4.2.0)
-- 
--   Simulator: 
--     Ogre simulator: 
--     \- Use Ogre3D:               yes (ver 1.9.0)
--     \- 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:                    yes (ver 80)
--     Use PNG:                     yes (ver 1.6.37)
--     \- Use ZLIB:                 yes (ver 1.2.11)
--     Use OpenCV:                  yes (ver 4.2.0)
--     Use stb_image (built-in):    yes (ver 2.27.0)
--     Use TinyEXR (built-in):      yes (ver 1.0.2)
--     Use simdlib (built-in):      yes
-- 
--   Real robots: 
--     Use Afma4:                   no
--     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):    yes (ver 1.0.0)
--     Use pololu (built-in):       yes (ver 1.0.0)
-- 
--   GUI: 
--     Use X11:                     yes
--     Use GTK:                     no
--     Use OpenCV:                  yes (ver 4.2.0)
--     Use GDI:                     no
--     Use Direct3D:                no
-- 
--   Cameras: 
--     Use DC1394-2.x:              yes (ver 2.2.5)
--     Use CMU 1394:                no
--     Use V4L2:                    yes (ver 1.18.0)
--     Use directshow:              no
--     Use OpenCV:                  yes (ver 4.2.0)
--     Use FLIR Flycapture:         no
--     Use Basler Pylon:            no
--     Use IDS uEye:                no
-- 
--   RGB-D sensors: 
--     Use Realsense:               no
--     Use Realsense2:              yes (ver 2.55.1)
--     Use Occipital Structure:     no
--     Use Kinect:                  no
--     \- Use libfreenect:          no
--     \- Use libusb-1:             yes (ver 1.0.23)
--     \- Use std::thread:          yes
--     Use PCL:                     yes (ver 1.10.0)
--     \- Use VTK:                  yes (ver 7.1.1)
-- 
--   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:                 yes (ver 2.9.10)
--     Use json (nlohmann):         yes (ver 3.7.3)
-- 
--   Optimization: 
--     Use OpenMP:                  yes
--     Use std::thread:             yes
--     Use pthread:                 yes
--     Use pthread (built-in):      no
--     Use simdlib (built-in):      yes
-- 
--   DNN: 
--     Use CUDA Toolkit:            no
--     Use TensorRT:                no
-- 
--   Documentation: 
--     Use doxygen:                 no
--     \- Use mathjax:              no
-- 
--   Tests and samples:
--     Use catch2 (built-in):       yes (ver 2.13.7)
--     Tests:                       yes
--     Apps:                        yes
--     Demos:                       yes
--     Examples:                    yes
--     Tutorials:                   yes
--     Dataset found:               no
-- 
--   Library dirs:
--     Eigen3 include dir:          /usr/lib/cmake/eigen3
--     OpenCV dir:                  /usr/lib/x86_64-linux-gnu/cmake/opencv4
--     PCL dir:                     /usr/lib/x86_64-linux-gnu/cmake/pcl
-- 
--   Install path:                  /usr/local
-- 
-- ==========================================================
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
YARP_LINK_LIBS_
    linked by target "visp_core" in directory /home/icub/visp-ws/visp/modules/core
    linked by target "visp_core" in directory /home/icub/visp-ws/visp/modules/core
    linked by target "visp_core" in directory /home/icub/visp-ws/visp/modules/core
    linked by target "visp_core" in directory /home/icub/visp-ws/visp/modules/core
    linked by target "visp_core" in directory /home/icub/visp-ws/visp/modules/core

-- Configuring incomplete, errors occurred!
See also "/home/icub/visp-ws/visp-build/CMakeFiles/CMakeOutput.log".
See also "/home/icub/visp-ws/visp-build/CMakeFiles/CMakeError.log".

[SamFlt]

Hi,

This seems related to the YARP module, that is located in your /usr/local/src/robot/robotology-superbuild/build/install/lib/cmake/YARP/ folder. If you do not actually need YARP, you could rerun cmake with cmake .. -DUSE_YARP=OFF

Otherwise, it is possible that the ViSP cmake recipe should be modified to take into account newer YARP versions.

Sam

[jimingda]

Thanks @SamFlt

It works now after setting -DUSE_YARP=OFF, in compliance with the advice which i previous overlooked.
Note: if built from scratch, the CMake option USE_YARP can be safely disabled as it is not required for the software of this repository.