#The Pilot Intelligent Library

##1. Introduction

The PIL library includes some pretty useful tools for C++ programing espesially in the areas of moblile robotics and computer vision.

1.1. Website:

• http://adv-ci.com/pil/
• http://zhaoyong.adv-ci.com/pil/

1.2. Folder structure

• PIL --- top dir

• src --- source code of the library
• • base --- base things ([std=c++11])
• • • ClassLoader--- used for plugin warp and loading
• • • Debug --- debug utils, exceptions, Logger
• • • IO --- some basic io devices support like UART
• • • Path --- a general path parser
• • • Platform --- basic platform and enviroment macros
• • • Svar --- the svar script language for configuration, value passing and command invoking
• • • Thread --- thread implementation with mutex, semaphore
• • • Time --- time utils including Timer, DataTime
• • • Types --- basic types like Int, Point, SPtr, SO3, SE3, VecParament, Random .etc
• • • Utils --- some other utils for string and so on
• • network --- network transmission framework for IP/TCP, UDP (pi_base [system] [poco])
• • • Utils --- some other utils for string and so on
• • hardware --- inplementation of UART, GPS, IMU and joystick, etc. (pi_base)
• • • UART --- UART implementation
• • • GPS --- GPS implementation
• • • IMU --- IMU implementation
• • • Joystick --- Joystick implementation
• • cv --- some computer vision utils based on OpenCV (pi_base opencv [cvd] [ffmpeg])
• • • Camera --- Camera and Undistorter
• • gui --- display things (Qt QGLviewer)
• • • gl --- opengl display framework based on Qt and OpenGL (QGLViewer), including some basic objects
• • • widgets --- some costum widgets for Qt
• • lua --- the lua warper of some APIs (lua)
• apps --- source code of examples
• scripts --- compile scripts
• Thirdparty--- some other librarys PIL depends on

##2. Resources and Compilation on Linux

###2.1. Resources

• Download the latest code with:

  • Git:

      git clone https://github.com/zdzhaoyong/PIL
    

###2.2. Dependency OpenCV : sudo apt-get install libopencv-dev

Qt : sudo apt-get install build-essential g++ libqt4-core libqt4-dev libqt4-gui qt4-doc qt4-designer

QGLViewer : sudo apt-get install libqglviewer-dev libqglviewer2

Boost : sudo apt-get install libboost1.48-all-dev

###2.2. Compilation As we develop the whole project on Linux, only compilation Makefile for linux is provided. If you are using linux systems, it can be compiled with one command:

cd PIL;make

The compilation should be ok in most circumstances and once not, you may need to modified the file scripts/LIBS_CONFIG.linux and config the library dependences manually. ##3. Usage and examples Lots of examples are provided in folder apps, cd to the app folder you wanna and input make run to excute the application.

##4. Contact

If you have any problem, or you have some suggestions for this code, please contact Yong Zhao by [email protected], thank you very much!