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The Ubitrack FAQ

> Running Ubitrack

Background video is not displayed and the log shows error message "OpenGL Warning: SHCRGL_GUEST_FN_WRITE_READ (31657004) failed with ffffffdb ffffffea"

This happens if the maximum size of the background texture is exceeded. E.g. running Windows on VirtalBox, the maximum texture size is 2048x2048. See also http://www.virtualbox.org/ticket/5720.

Ubitrack crashes when used in Visual Studio or any other development environment

Try to run Ubitrack on the console, using the utConsole tool.

• For this, open a command line
• Go to the bin\ folder in your Ubitrack installation.

cd <path-to-your-ubitrack>\bin\

• Run utConsole with a very simple data flow, by typing

utConsole ..\doc\utql\simple_dataflow.dfg

When everything works fine, it should print some status messages and then, continuously 30 times per second, it should print a dummy pose measurement. Example:

c:\EXTEND3D\ubitrack\bin>utConsole.exe ..\doc\utql\SimpleDataflow.dfg
Loading components...
17:52:20.709   INFO ComponentFactory.cpp:49  Looking for components in c:\EXTEND3D\ubitrack\bin\ubitrack Ubitrack.Dataflow.ComponentFactory
17:52:20.721   INFO ComponentFactory.cpp:73  Loading driver: 2D3DPoseEstimation.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.730   INFO ComponentFactory.cpp:73  Loading driver: AbsoluteOrientation.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.741   INFO ComponentFactory.cpp:73  Loading driver: AbsoluteOrientationRANSAC.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.758   INFO ComponentFactory.cpp:73  Loading driver: Accumulator.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.769   INFO ComponentFactory.cpp:73  Loading driver: Aggregator.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.777   INFO ComponentFactory.cpp:73  Loading driver: ApplicationEndpointsVision.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.799   INFO ComponentFactory.cpp:73  Loading driver: ApplicationPullSink.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.809   INFO ComponentFactory.cpp:73  Loading driver: ApplicationPushSink.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.819   INFO ComponentFactory.cpp:73  Loading driver: ApplicationPushSource.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.829   INFO ComponentFactory.cpp:73  Loading driver: art.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.840   INFO ComponentFactory.cpp:73  Loading driver: artBodyFileReader.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.852   INFO ComponentFactory.cpp:73  Loading driver: artErrorEstimator.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.862   INFO ComponentFactory.cpp:73  Loading driver: artSender.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.872   INFO ComponentFactory.cpp:73  Loading driver: Average.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.881   INFO ComponentFactory.cpp:73  Loading driver: AVIFrameGrabber.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.896   INFO ComponentFactory.cpp:73  Loading driver: Buffer.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.905   INFO ComponentFactory.cpp:73  Loading driver: CalibFile.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.915   INFO ComponentFactory.cpp:73  Loading driver: CastComponent.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.925   INFO ComponentFactory.cpp:73  Loading driver: ChessboardFunctions.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.940   INFO ComponentFactory.cpp:73  Loading driver: Collector.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.951   INFO ComponentFactory.cpp:73  Loading driver: Color2Grayscale.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.961   INFO ComponentFactory.cpp:73  Loading driver: Countdown.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.971   INFO ComponentFactory.cpp:73  Loading driver: CovarianceEstimation.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.984   INFO ComponentFactory.cpp:73  Loading driver: DecomposeProjectionMatrix.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.994   INFO ComponentFactory.cpp:73  Loading driver: Delay.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.002   INFO ComponentFactory.cpp:73  Loading driver: Direction.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.010   INFO ComponentFactory.cpp:73  Loading driver: DirectShowFrameGrabber.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.019   INFO ComponentFactory.cpp:73  Loading driver: Distance.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.027   INFO ComponentFactory.cpp:73  Loading driver: EventCombiner.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.039   INFO ComponentFactory.cpp:73  Loading driver: ExponentialSmoothing.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.048   INFO ComponentFactory.cpp:73  Loading driver: FindSubPixelCorner.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.057   INFO ComponentFactory.cpp:73  Loading driver: FrameBuffer.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.066   INFO ComponentFactory.cpp:73  Loading driver: FunctionalFusion.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.073   INFO ComponentFactory.cpp:73  Loading driver: Gate.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.082   INFO ComponentFactory.cpp:73  Loading driver: gps.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.090   INFO ComponentFactory.cpp:73  Loading driver: HandEyeCalibration.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.103   INFO ComponentFactory.cpp:73  Loading driver: HighguiFrameGrabber.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.110   INFO ComponentFactory.cpp:73  Loading driver: HighguiWindow.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.119   INFO ComponentFactory.cpp:73  Loading driver: HomogeneousMatrixEstimation.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.128   INFO ComponentFactory.cpp:73  Loading driver: Identity.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.137   INFO ComponentFactory.cpp:73  Loading driver: IDSFrameGrabber.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.165   INFO ComponentFactory.cpp:73  Loading driver: ImageFileFrameGrabber.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.174   INFO ComponentFactory.cpp:73  Loading driver: ImageFileRecorder.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.184   INFO ComponentFactory.cpp:73  Loading driver: ImageGate.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.192   INFO ComponentFactory.cpp:73  Loading driver: ImageIO.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.199   INFO ComponentFactory.cpp:73  Loading driver: ImagePointPlaneIntersection.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.207   INFO ComponentFactory.cpp:73  Loading driver: ImageShrink.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.215   INFO ComponentFactory.cpp:73  Loading driver: ImageTrigger.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.224   INFO ComponentFactory.cpp:73  Loading driver: Intrinsic.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.231   INFO ComponentFactory.cpp:73  Loading driver: Inversion.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.240   INFO ComponentFactory.cpp:73  Loading driver: kuka.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.248   INFO ComponentFactory.cpp:73  Loading driver: LightPointDetection.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.257   INFO ComponentFactory.cpp:73  Loading driver: LinearInterpolation.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.266   INFO ComponentFactory.cpp:73  Loading driver: ListExtractor.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.273   INFO ComponentFactory.cpp:73  Loading driver: ListGate.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.280   INFO ComponentFactory.cpp:73  Loading driver: MarkerTracker.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.289   INFO ComponentFactory.cpp:73  Loading driver: MatrixMultiplication.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.297   INFO ComponentFactory.cpp:73  Loading driver: MausometerAggregator.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.308   INFO ComponentFactory.cpp:73  Loading driver: MausometerDriver.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.316   INFO ComponentFactory.cpp:73  Loading driver: MausometerTracker.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.324   INFO ComponentFactory.cpp:73  Loading driver: MultipleCameraPoseOptimization.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.335   INFO ComponentFactory.cpp:73  Loading driver: Multiplication.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.344   INFO ComponentFactory.cpp:73  Loading driver: ndi.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.353   INFO ComponentFactory.cpp:73  Loading driver: Network2.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.360   INFO ComponentFactory.cpp:73  Loading driver: NetworkSink.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.370   INFO ComponentFactory.cpp:73  Loading driver: NetworkSource.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.378   INFO ComponentFactory.cpp:73  Loading driver: NullComponent.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.387   INFO ComponentFactory.cpp:73  Loading driver: OffaxisProjection.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.397   INFO ComponentFactory.cpp:73  Loading driver: OnlineRotHec.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.403   INFO ComponentFactory.cpp:73  Loading driver: Perturbation.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.410   INFO ComponentFactory.cpp:73  Loading driver: PixelErrorPredictionEvaluation.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.420   INFO ComponentFactory.cpp:73  Loading driver: PixelFlowCameraRotation.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.430   INFO ComponentFactory.cpp:73  Loading driver: player.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.437   INFO ComponentFactory.cpp:73  Loading driver: posegenerator.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.445   INFO ComponentFactory.cpp:73  Loading driver: PoseKalmanFilter.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.452   INFO ComponentFactory.cpp:73  Loading driver: PoseSplit.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.461   INFO ComponentFactory.cpp:73  Loading driver: PrintSink.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.469   INFO ComponentFactory.cpp:73  Loading driver: recorder.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.478   INFO ComponentFactory.cpp:73  Loading driver: render.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.487   INFO ComponentFactory.cpp:73  Loading driver: ReorderGrid.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.496   INFO ComponentFactory.cpp:73  Loading driver: ResidualError.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.503   INFO ComponentFactory.cpp:73  Loading driver: RFIDm5eReader.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.512   INFO ComponentFactory.cpp:73  Loading driver: RFIDTracker.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.521   INFO ComponentFactory.cpp:73  Loading driver: RigidBodyTracking.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.529   INFO ComponentFactory.cpp:73  Loading driver: RingBuffer.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.537   INFO ComponentFactory.cpp:73  Loading driver: RotationCorrection.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.545   INFO ComponentFactory.cpp:73  Loading driver: RotationDifference.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.552   INFO ComponentFactory.cpp:73  Loading driver: RotationVelocityTransformation.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.562   INFO ComponentFactory.cpp:73  Loading driver: RotHecKalmanFilter.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.570   INFO ComponentFactory.cpp:73  Loading driver: RotOnlyKalmanFilter.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.577   INFO ComponentFactory.cpp:73  Loading driver: Sampler.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.586   INFO ComponentFactory.cpp:73  Loading driver: ScaleEstimation.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.594   INFO ComponentFactory.cpp:73  Loading driver: SignalGenerator.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.602   INFO ComponentFactory.cpp:73  Loading driver: SignalGeneratorVision.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.611   INFO ComponentFactory.cpp:73  Loading driver: SPAAM.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.619   INFO ComponentFactory.cpp:73  Loading driver: StaticErrorAdd.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.626   INFO ComponentFactory.cpp:73  Loading driver: StaticMeasurement.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.635   INFO ComponentFactory.cpp:73  Loading driver: StereoCalibration.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.644   INFO ComponentFactory.cpp:73  Loading driver: StereoTracking.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.651   INFO ComponentFactory.cpp:73  Loading driver: Synchronizer.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.659   INFO ComponentFactory.cpp:73  Loading driver: TestSource.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.668   INFO ComponentFactory.cpp:73  Loading driver: TimeComplementaryFusion.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.676   INFO ComponentFactory.cpp:73  Loading driver: TimeComplementaryFusionManual.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.687   INFO ComponentFactory.cpp:73  Loading driver: TimeSpaceConverter.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.694   INFO ComponentFactory.cpp:73  Loading driver: TipCalibration.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.703   INFO ComponentFactory.cpp:73  Loading driver: TischPoseCollector.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.712   INFO ComponentFactory.cpp:73  Loading driver: TofPointSelector.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.720   INFO ComponentFactory.cpp:73  Loading driver: TrackingContestFileReader.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.729   INFO ComponentFactory.cpp:73  Loading driver: Trigger.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.735   INFO ComponentFactory.cpp:73  Loading driver: TriggerLoop.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.743   INFO ComponentFactory.cpp:73  Loading driver: UndistortImage.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.750   INFO ComponentFactory.cpp:73  Loading driver: unifeye.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.759   INFO ComponentFactory.cpp:73  Loading driver: VectorfieldMapper.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.767   INFO ComponentFactory.cpp:73  Loading driver: webgui.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.773   INFO ComponentFactory.cpp:73  Loading driver: WindowedAggregator.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.782   INFO ComponentFactory.cpp:73  Loading driver: xsens-legacy.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.793   INFO ComponentFactory.cpp:73  Loading driver: xsens-raw.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.802   INFO ComponentFactory.cpp:73  Loading driver: z800.dll Ubitrack.Dataflow.ComponentFactory
Instantiating dataflow network from ..\doc\utql\SimpleDataflow.dfg...
17:52:21.814 NOTICE   AdvancedFacade.cpp:124 AdvancedFacade::loadDataflow from file ..\doc\utql\SimpleDataflow.dfg Ubitrack.Facade.AdvancedFacade
17:52:21.825   INFO  DataflowNetwork.cpp:205 Creating: pattern_1 [TestSourcePose] Ubitrack.Dataflow.DataflowNetwork
17:52:21.834   INFO       TestSource.cpp:151 starting TestSource with frequency 30 Ubitrack.Components.TestSource
17:52:21.840   INFO  DataflowNetwork.cpp:205 Creating: pattern_2 [PosePrintSink] Ubitrack.Dataflow.DataflowNetwork
17:52:21.848   INFO  DataflowNetwork.cpp:119 Making connections Ubitrack.Dataflow.DataflowNetwork
17:52:21.855   INFO  DataflowNetwork.cpp:456 assigning event priorities Ubitrack.Dataflow.DataflowNetwork
Starting dataflow
17:52:21.863   INFO  DataflowNetwork.cpp:407 Signaling components to start Ubitrack.Dataflow.DataflowNetwork
17:52:21.870 NOTICE       EventQueue.cpp:91  Event queue started Ubitrack.Dataflow.EventQueue
Received Measurement for pattern_2: [ -0.0231054 0.0329034 -0.0785514 ] [ ( 0.0189615 -0.00793873 0.0578665 ) 0.998113 ] 17:52:21.910999
Received Measurement for pattern_2: [ -0.0210494 0.0339889 -0.0774115 ] [ ( 0.0201967 -0.00927795 0.0576627 ) 0.998089 ] 17:52:21.959986
Received Measurement for pattern_2: [ -0.0189512 0.0350967 -0.0762482 ] [ ( 0.0214571 -0.0106446 0.0574544 ) 0.998061 ] 17:52:22.009980

<...>

• Stop by pressing CTRL-C. You should see the following:

Received Measurement for pattern_2: [ 0.0577754 0.0756062 -0.0337078 ] [ ( 0.0673413 -0.0604243 0.0497276 ) 0.994656 ] 17:52:23.838152
Stopping dataflow...
17:52:23.880 NOTICE       EventQueue.cpp:116 Event queue stopped Ubitrack.Dataflow.EventQueue
17:52:23.894   INFO  DataflowNetwork.cpp:407 Signaling components to stop Ubitrack.Dataflow.DataflowNetwork
17:52:23.901   INFO       TestSource.cpp:173 stopping TestSource Ubitrack.Components.TestSource
Finished, cleaning up...
utConsole terminated.
17:52:23.977   INFO       EventQueue.cpp:85  Destroyed EventQueue Ubitrack.Events.Dataflow.EventQueue

c:\EXTEND3D\ubitrack\bin>

If it does not work, the output might still give you some clues about the problem.

1. Have a look at the second line of the output? Does the Looking for components ... point to the directory you expected? Running set (Windows) or env (Unix) at the command line might give some insight. Look for the output regarding your PATH (Windows) / LD_LIBRARY_PATH settings. On Unix, check also /etc/ld.so.conf (check man page for details). Are different Ubitrack installations configured? Your operating system looks for dlls / shared objects only in the directories configured by the PATH / LD_LIBRARY_PATH variable. There should be only one, otherwise you don't know where your operating system will load dlls (Windows) / shared objects (Unix) from.
2. If you think, the used path is correct, then try to figure out where the log messages stop. Which component has been tried to load last? This component probably makes problems. Think about which potentially unmet or wrongly met dependencies this component might have. The MarkerTracker for example depends on OpenCV. This would be a strong indicator that something with your OpenCV installation is wrong.

utConsole exits with "Error parsing command line parameters - ..."

Make sure that no system environment variable starts with UBITRACK_ which causes problems in the utConsole command line parser.

> Compiling Ubitrack

Do I always have to specify all parameters when calling Scons?

No! Scons caches all parameters. You always can override these parameters, but setting a parameter requires to call Scons once. The parameters will be stored in a file called config.cache in your ubitrack top level folder.

I tried to install scons on Windows Vista but it does not work

Change the privilege of the python executable to Administrator and install Scons by typing

   python setup.py install

Make sure that the directory with the python executable is within the PATH environment variable.

I compiled freeglut, but scons does not find glut - what to do?

Copy freeglut.dll to the ubitrack lib folder, maybe try to rename it to glut.dll.

I installed some library, but SCons does not find it

You can force SCons to re-run all checks by calling it with

   scons --config=force

I always get a message the boost is not found

Boost uses platform- and compiler-specific suffixes for its library names, e.g. "-mt", "-gcc-mt" or "-vc80-mt-gd". Please look into your lib directory what exactly the suffix is. Then set it in SCons using e.g.

   scons BOOST_SUFFIX="-mt" --config=force

No Java SDK found and JAVA_HOME variable is not set in config.cache

Then you probably have the JAVA_HOME variable set as an environment variable - that's ok. But add the JAVA_HOME/bin directory to the PATH environment variable

I got OpenCV 2.0 and it is not found

Theres a problem in naming of the libs in OpenCV 2.0. I just got back to OpenCV 1.0. Another workaround could be to copy the lib and dll files that contain a 200 in their name and to take out the 200 from the name in the copies

> Compiling on Windows

I am using Visual C/C++ Express but I cannot compile Ubitrack. What can be the problem?

• Explanation: When using the free Visual C/C++ compilers (either from VisualStudio Express or from the Windows SDK), SCons will eventually not find the path to the windows includes, causing the Boost detection to fail.
• HowToSolve: You have to add the path by hand (adapt the paths to your environment if necessary) and call scons like that:

   scons INCLUDE="C:\Program Files\Microsoft SDKs\Windows\v6.1\Include" LIBS="C:\Program Files\Microsoft SDKs\Windows\v6.1\Lib"

SWIG is not found. How can I tell scons to find it?

• Explanation: Scons is a little bit picky on how to specify the options.
• HowToSolve 1: Use single quotes to sign a complete path to specify the command line option SWIG_PATH='C:\swigwin-2.0.4\swig.exe' while calling scons.
• HowToSolve 2: Use extra quotes to sign a complete path within the config.cache file SWIG_PATH='"C:\\swigwin-2.0.4\\swig.exe'" before calling scons.
• Reminder: Be aware of the different methods of using the backslash for the two methods.

How can I compile a 64 bit ubitrack library?

• Check that you have a 64 bit windows system. If you do not have it, forget about it.
• Explanation: You need to tell MS Visual Studio to use the compiler and linker for 64 bit libraries.
• HowToSolve: Use the TARGET_ARCH option explainend under Ubitrack installation.
• Reminder 1: Take care that all dependent libraries (boost/lapack/...) are compiled for the same architecture as well.
• Reminder 2: Run scons from the Visual Studio x64 Win64 Command Prompt (2010).

I have a 64 bit MS Windows (XP/Vista/7) and a MS VS 2008 installed. Unfortunately my ubitrack does not compile. What can I do?

• Explanation: Scons cannot detect the correct MS VS compiler (cl.exe) and MS VS linker (mt.exe) and corresponding dynamic libraries (dll) of the Visual Studio 2008.
• HowToSolve: Modify the PATH environment variable by adding the following (standard installation) directories:
  C:\Program Files (x86)\Microsoft Visual Studio 9.0\VC\bin;
  C:\Program Files\Microsoft SDKs\Windows\v6.1\Bin;
  C:\Program Files (x86)\Microsoft Visual Studio 9.0\Common7\IDE;
  
• Reminder: Take care that you sign a backslash ("\") by using a double backslash ("\\")

I did the previous steps, but it still does not work properly (or not at all). What else can I do?

• Explanation: Unfortunately the Visual Studio 2008 Console might miss the paths to some necessary header- and library-files as well. Usually the libraries and headers of Visual Studio 2008, ATL and the Windows SDK are necessary.
  
• HowToSolve: Modify the config.cache file, so that scons can find the necessary header- and library-files. You can add the paths to the libraries and headers using the option LIBS=xxx and option INCLUDE=XXX, explained under Ubitrack installation. If you have a standard installation these might be the missing paths for the librarires:
  C:\\Program Files (x86)\\Microsoft Visual Studio 9.0\\VC\\lib
  C:\\Program Files (x86)\\Microsoft Visual Studio 9.0\\VC\\atlmfc\\lib
  C:\\Program Files\\Microsoft SDKs\\Windows\\v6.1\\Lib
  
  And these are the paths to the missing header-files:
  C:\\Program Files (x86)\\Microsoft Visual Studio 9.0\\VC\\include
  C:\\Program Files (x86)\\Microsoft Visual Studio 9.0\\VC\\atlmfc\\include
  C:\\Program Files\\Microsoft SDKs\\Windows\\v6.1\\include
  

> Compiling on Linux

> Compiling on MAC