Building

OS Support

Currently, Titan Processing only supports Linux/glibc builds for AArch64 and x86_64 with no plans to support Windows or MacOS, but feel free to try. All package requirements should be cross-platform. There are issues with configuring CMake using Visual Studio solutions and building with MSVC so consider using MinGW or Clang.

The conda packages are only built for Linux/glibc on AArch64 and x86_64. See titan-forge-feedstocks for the package recipes. You can try to update the recipes to build on Windows or macOS.

Instructions (new - Conda/Mamba)

Installing the Conda environment

First, please have Conda or Mamba installed on your computer. If it’s not installed, please install Miniforge3, which includes Conda, Mamba and a conda-forge based Python environment. You can install Miniforge3 using the following command:

wget "https://github.com/conda-forge/miniforge/releases/latest/download/Miniforge3-$(uname)-$(uname -m).sh"
bash Miniforge3-$(uname)-$(uname -m).sh
rm Miniforge3-$(uname)-$(uname -m).sh

Close and reopen your shell, and run:

# Prevent Conda from polluting your environment when you're not working on Conda-managed projects.
conda config --set auto_activate_base false

Now, you can use Conda to install the dependencies.

mamba env create -f environment.yml
mamba activate Titan-Processing

If you modify environment.yml, please run

mamba env update -f environment.yml

Occassionally, you should update all the packages to the latest versions:

mamba activate Titan-Processing
mamba update --all -c https://repo.prefix.dev/titan-forge

Building the library and examples

mamba activate Titan-Processing

mkdir build && cd build
export CC=clang
export CXX=clang++
export CXXFLAGS="-pthread"

# Configure the build
cmake -B . -S .. -DCMAKE_EXPORT_COMPILE_COMMANDS=1 -DBUILD_EXAMPLES=1 -DCMAKE_BUILD_TYPE=RelWithDebInfo -GNinja

# Actually run the build
ninja

Build Options

  • -DTEST: builds tests

  • -DBUILD_EXAMPLES: builds example files (found in example directory)

  • -DNO_REALSENSE: builds without RealSense code for compatibility

Testing

Run ctest -j4 -C Debug --output-on-failure in the build/ directory.

Instructions (old - Debian packages)

Warning: These instructions are not being updated. Although many team members used these instructions before the Conda builds were set up, it is difficult to support installations using our custom Debian packages.

  1. Install OpenCV 4.8.x or above with the Aruco contrib module. Python 3.8.x or above support is optional but necessary to run calibration scripts. Follow the official guide to build OpenCV contrib here, but only the ArUco submodule is used. To install OpenCV with our own Debian binaries, execute the following.

# Install OpenCV from FRC#2022 binaries
curl -OL https://github.com/ethanc8/titanian-repo/raw/master/debian/pool/main/o/opencv/libopencv-titanian_4.8.1-1+deb12_amd64.deb
sudo apt install ./libopencv-titanian_4.8.1-1+deb12_amd64.deb

  1. (Optional) Install Intel RealSense SDK to build RealSense modules.

  2. Install GoogleTest testing framework.

  3. Install JSON for Modern C++ using vcpkg or build it from scratch. To install vcpkg with our own Debian binaries, execute the following.

# Install vcpkg binary (optional)
curl -OL https://github.com/ethanc8/titanian-repo/raw/master/debian/pool/main/v/vcpkg/vcpkg_2023.12.10-2+titan2022_amd64.deb
sudo apt install ./vcpkg_2023.12.10-2+titan2022_amd64.deb

# Install nlohmann json library using vcpkg
vcpkg install nlohmann-json

  1. Configure the CMake script using Makefile or Ninja (both build systems supported) using the following commands. Link vcpkg toolchain file to include vcpkg packages or alternatively link nlohmann-json manually.

mkdir build && cd build

# Config to build examples
cmake -B . -S .. -DCMAKE_TOOLCHAIN_FILE=[PATH TO VCPKG]/scripts/buildsystems/vcpkg.cmake -DBUILD_EXAMPLES=1

# Full debug config
# - forces CMake to use Ninja
# - allows for Clangd usage
cmake -B . -S .. -DCMAKE_TOOLCHAIN_FILE=[PATH TO VCPKG]/scripts/buildsystems/vcpkg.cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=1 -DBUILD_EXAMPLES=1 -DCMAKE_BUILD_TYPE=RelWithDebInfo -GNinja

# Production config
cmake -B . -S .. -DCMAKE_TOOLCHAIN_FILE=[PATH TO VCPKG]/scripts/buildsystems/vcpkg.cmake -DBUILD_EXAMPLES=1

  1. Build and install the project using your build system.

# For Makefile
make -j
sudo make install

# For Ninja
ninja
sudo ninja install