Released under LGPL3, see license.txt for details.

CATS2 goes for Control And Tracking Software. It serves to monitor animal-robot experiments and to control robots in closed-loop. CATS2 is built within the frame of ASSISIbf project (http://assisi-project.eu).

CATS2 was tested with Ubuntu 14.04 and Ubuntu 16.04.

CATS2 depends on the following packages

• gcc 4.9 or newer
• SDL2
• CMake 3.2 or newer
• Qt5.6 or newer
• gstreamer-0.10
• qt-gstreamer-0.10.3
• OpenCV 3.x (with dependecies)
• Boost
• ZeroMQ
• protobuf
• dashel
• enki
• aseba

sudo apt-get install libsdl2-2.0-0 libsdl2-dbg libsdl2-dev 

sudo apt-get install libboost-dev

Check here http://zeromq.org/intro:get-the-software and here https://gist.github.com/cdjhlee/b8e3c927a01b0948b42d for more details

sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt-get update
sudo apt-get install g++-4.9

Setup the switch between the new gcc4.9 and the previous version installed if necessary (https://askubuntu.com/questions/26498/choose-gcc-and-g-version)

Can be downloaded here https://info.qt.io/download-qt-for-application-development but the registration with Qt is needed

sudo apt install ncurses* (required by cmake to create ccmake)
wget https://cmake.org/files/v3.8/cmake-3.8.0.tar.gz
tar -xvf cmake-3.8.0.tar.gz
cd cmake-3.8.0/
./bootstrap --qt-gui
make -j24
make install

Use this link https://gstreamer.freedesktop.org/src/qt-gstreamer/ to download the qt-gstreamer-0.10.3 source files. When running cmake add -DQT_VERSION=5 flag

git clone https://github.com/opencv/opencv_contrib.git
git clone https://github.com/opencv/opencv.git
cd opencv
mkdir build
cd build
cmake .. -DOPENCV_EXTRA_MODULES_PATH="path-to-opencv-contrib"
make -j24
make install

git clone https://github.com/gribovskiy/CATS2.git
cd CATS2
git submodule init
git submodule update
mkdir build
cd build
cmake ..
make -j24

This line will launch CATS2 with the video4linux drivers and input device "1":

./cats -mc v4l 1 -c <path-to-configuration-file>

Other than v4l you can use vf (to use a video file) or if (to use a still image), in this case you need to provide the path to the corresponding file.

If you don't have any camera connected, but you would like to have a look on the user interface of CATS2, then you can try the following command:

./cats -bc if ../../../config/camera-calibration/epfl-setup-180/cats2-180-angle-below-camera.png -mc if ../../../config/setup/epfl-two-rooms.png -c ../../../config/cats2-epfl-setup.xml

Configuration files store parameters used by submodules of CATS2, such as the camera calibration files, parameters of tracking routines, or parameters of the robots' controllers. Examples of the configuration files can be found in config.