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Minotaur is the controls software for our microrobots. It is being actively developed with the following goals in mind:
- Cross-platform development and deployment
- Maintainable object-oriented design and architecture
- Abstracted implementation and approachable interface
- High-speed architecture for real-time data crunching (read image recognition)
- Expose controller API that listens to Python scripts for quick navigation deployment
Please checkout the Projects tab for information about roadmap and current progress.
These will describe the steps for setting up an environment on Windows. This has been tested on a clean installation of Windows 10.
- Download and install Git
https://git-scm.com/download/win
- Download and install Python 3.6
https://www.python.org/downloads
- Select
Add Python 3.6 to PATH
- Under
Customize installation
ensureAdd Python to environment variables
andPrecompiled standard library
are checked
- Select
- Download and install Qt
https://www1.qt.io/download-open-source
- Choose only Qt 5.6 for
MinGW 4.9.2 32 bit
- Qt ships with
g++.exe
andmingw32-make.exe
- Choose only Qt 5.6 for
- Download and install CMake
https://cmake.org/download
- Make sure to check
Add CMake to the system PATH
- Make sure to check
- Add the Qt tools directory to the System PATH:
C:/Qt/tools/mingw492_32/bin
- Make sure to restart PowerShell or cmd
- Add the Qt 5.6 binaries to the System PATH:
C:/Qt/5.6/mingw49_32/bin
- Clone the repo
git clone https://github.com/uwnrg/minotaur-cpp.git
cd minotaur-cpp
mkdir build
cd build
- The following variables are needed by
cmake
CMAKE_PREFIX_PATH
points to Qt:C:/Qt/5.6/mingw49_32/lib/cmake
PYTHON_INCLUDE_DIRS
points to Python headers:C:/Python36-32/include
PYTHON_LIBRARY
points to Python library:C:/Python36-32/libs/python36.lib
cmake .. -G "MinGW Makefiles" -DCMAKE_PREFIX_PATH="C:/Qt/5.6/mingw49_32/lib/cmake" -DPYTHON_INCLUDE_DIRS="C:/Python36-32/include" -DPYTHON_LIBRARY="C:/Python36-32/libs/python36.lib"
mingw32-make
- Double-click
minotaur-cpp.exe
- You can add the Python
include
andlib
directories to your System PATH or - If you are using CLion, you can add
CMAKE_PREFIX_PATH
,PYTHON_INCLUDE_DIRS
andPYTHON_LIBRARY
as either environment variables orcmake
flags - If CLion can't find
g++
you can point it directly to the location inBuild, Execution, and Deployment
- You can also set the
QTDIR
environment variable toC:/Qt/5.6
- You should now be able to build and run with CLion or
cmake .. -G "MinGW Makefiles"
andmingw32-make
These will describe the basic steps for setting up an environment on MacOS. There may be issues if multiple versions of Python are installed on the system.
- Download the Qt community edition and install a version at least 5.6
- I recommend 5.6 or 5.7 since the later versions take up much more space
- You can either download Python 3.6 from the website and install or
- Use
brew install python3
- Verify the python version (minimum 3.4) with
python3 --version
- OpenCV 3 is the required version
- Build and install with
brew install opencv
- Additional steps or dependencies (such as Python 2 and Python 3) listed here
Here you can either install CLion and import the project (recommended) or
git clone https://github.com/uwnrg/minotaur-cpp.git
cd minotaur-cpp
mkdir build
cd build
cmake ../ -DCMAKE_PREFIX_PATH=/path/to/qt/%VERSION%/clang_64/lib/cmake
make
And then run with ./minotaur-cpp
. Note that if you're using CLion, go to
Preference -> Build, Execution, Deployment -> CMake
and add the same CMAKE_PREFIX_PATH
argument.
CMake might have a hard time finding the correct Python version because Apple. Ping me @jeffniu22
if you've got any issues.
From a fresh install, you will need these packages
sudo apt install build-essential cmake python3 python3-dev qt5-default libudev-dev libopencv-dev
You will need to build OpenCV 3 from source. Download the OpenCV 3 source
and build. It is recommended to build with USE_QT=ON
instead of GTK.
Additional instructions found here.
Alternatively, if your computer is running amd64
architecture with Ubuntu 16.04, a prebuilt Debian
package can be found here. Note that additional
dependencies may be required.
Then clone the repository and build with
git clone https://github.com/uwnrg/minotaur-cpp.git
cd minotaur-cpp
mkdir build
cd build
cmake ../
make
And then run with ./minotaur-cpp
If Qt is unable to detect cameras, make sure to run
sudo apt install libqt5multimedia5-plugins
The default tracker uses the MIL model, and may be configured to use other
tracker models. However, using the GOTURN model requires downloading and
adding to the working directory the architecture descriptor file goturn.prototxt
and the pretrained model data goturn.caffemodel
. The latter is about 350 MB.
These files are hosted here. Once
acquired, add them to the working directory of the minotaur-cpp
binary or
in the CMakeLists.txt
directory.
Configure the CMake project with cmake -DNO_DEBUG=ON ...
Please refer to the Contributing Guidelines.
Minotaur, Copyright (C) 2016 University of Waterloo Nano-Robotics Group
This program is free software; you can redistribute it and/or modify it
under the terms of the GNU General Public License as published by the
Free Software Foundation; either version 3 of the License, or(at your
option) any later version.
This program is distributed in the hope that it will be useful, but
WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
See the GNU General Public License for more details.