obstacle-avoidance

dependencies

Note that these are automatically installed for you by debiansetup.sh.

• opencv 2.4
• QT 5
• libusb-1.0-0-dev
• ZeroMQ 3.2

How to build the system

Cloning the repository

  git clone ssh://git@bitbucket.ubcsailbot.org:7999/fw/obstacle-avoidance.git

If building on Ubuntu or other Debian flavor of Linux

Try running our setup script for debian systems, debiansetup.sh. NOTE: DO NOT run this script with sudo. That will cause pain and suffering.

  chmod +x debiansetup.sh
  ./debiansetup

In general

  cd obstacle-detection
  git submodule update --init --recursive
  mkdir bin
  cd bin
  cmake ..
  make runCoreTests
  make rescale
  make rigRunner

Specific CMake flags for the Pi:

cmake -DDLIB_NO_GUI_SUPPORT=ON -DDLIB_LINK_WITH_SQLITE3=OFF ..
make liveFeeder

Otherwise just

  make liveFeeder

If you have problems

• check that you've initiated the git submodules
• check that all dependencies are met
• re-run cmake ..
• if all else fails, delete your build directory and try again.

Contributing

Please read the contribution guide.

Structure of the code

The directories src and test should mirror each other. That is, any unit testing code for the file src/a/b.cpp should be in test/a/bTest.cpp.

• src/ - Source code. For more details, check out the README files in each sub-direcotry.
  • core/ - The foundation of obstacle avoidance. We avoid putting device-specific code here if we can, as it makes it easier to compile the fundamentals.
  • device/ - Drivers for sensors (e.g. Lepton ,LSM9DS0 IMU, USB display for Raspberry Pi, etc.) These can tend to be less platform-agnostic when it comes to compilation, so we leave them in their own compilation unit.
  • main/ - All the files that contain main functions and that are written more or less for their own end (as opposed to for testing).
• test/ - Testing, including both unit tests and manually-run tests.
  • support/ - Code files that don't run unit tests, but only exist in support of testing.
  • Refer to documentation on src/ for a guide to the other sub-directories here.
• config/ - Contains configuration files for sensors and software parameters
• extra/ - Miscellaneous non-testing files
• lib/ - Third-party libraries
• resources/ - A few files that are handy to have around, namely for testing
• scripts/ - Miscellaneous useful scripts, including those that run the "test rig" for collecting thermal imaging data. See the readme for scripts

Running unit tests

We use gtest as our unit testing framework. The target for running the unit tests is runCoreTests. Assuming you already have a build directory in which cmake has been run, the followwing command will build and run the unit test suite:

make runCoreTests
./runCoreTests

Installing imglab

In order to tag images for making models install imglab by running the command

./scripts/build_scripts/install_imglab.sh