This library helps user to create applications for Balaur Wall. It is still under development, however there are some sample applications that will guide you through the library functionality. Read more about the Balaur Display Wall
- Ros : Installation guide can be found here
- Python : Installation guide can be found here
- Numpy : Installation guide can be found here
- Pyopengl : Installation guide can be found here
- PyKDL : Installation guide can be found here
- OpenCV : Installation guide can be found here
Other Dependencies of the modualir framework of the wall.
- gl_camera : Setup a camera to view a scene and display on the viewport. A camera can be placed at any point on the screen by giving it a positon of the eye,i.e camera, position of the reference point and direction of up vector. Learn more
- gl_frame : Frame with a translation and a rotation. Helps to store a transformation matrix.
- gl_vec3 : 3D Vector class. Helps to store a vector with the same functionality as of a normal vector.
- gl_group : TODO
- gl_lighting : Setup lighting for the scene. Used mainly to enable single/multiple Light sources. These light sources have many properties like diffusion, ambience etc . Learn more
- gl_material : This refers to the properties of an object that determine how it interacts with light. Material properties like shininess, specularity etc have to binded with the objects. Learn more
- gl_matrix : TODO
- gl_model : Helps to load a model. Right now it has an auto rotate feature.
- gl_object : Currently only sphere object is available. Helps to render a sphere on the screen at specified/random position. There are some other features like collision with another sphere, direction to move the sphere etc. Learn more
- gl_quad : To create a quad, which basically is a rectangle object, but quad class helps to load an image onto it. (No image can be directly rendered on the screen, it has to be rendered over a quad) Learn more
- gl_rect : Create a recatangle object. Renders a rectangle object on the screen.
- gl_rot3x3 : Rotation Matrix TODO
- gl_utils : Utility class, containing basic functinality of loading a video or image etc.
- gl_wall_canvas : Low level Wrapper of ModulairAppWidget. Parent this class to obtain Qt-Context to execute your QGLWidget. Learn more
- gl_widget_base : Low level Wrapper of Qt Opengl.QGLWidget. Parent this class to obtain OpenGL Context.
- imgage_browser : Simple image browser application.
- video_browser : Simple video browser application.
- bouncing_ball : Fun application which display few balls and let them bounce accross the walls of the screen and with themselves.
- model_browser : To load a model and display on the screen.
- solar_system : Its just a testing application that can be used for bug testing. (Not Important)
- object_testing : It is also a testing application that can be used for bug testing. (Not Important)
- To use the library, download modulair framework. Then create a rospackage for your development. Refer this, to create a ros package.
- After creating the ropackage include the dependencies(rospy, kdl, modulair_core) in the manifest.xml and rosmake the package.
- Copy the folder launch into the rospackage. Create a folder 'scripts' in the packge and copy all the tutorial files into that folder. Create a folder 'wall' and copy all library files into that folder.
- All the tutorial files ending with '_app.py' are the application files that creates the widget object and launces it. These files have to be given read/write/execute privelages (chmod 777 filename)
- To launch the applicaiton, make sure roscore is running. Then call roslaunch modulair_core modulair_core_laptop.launch, so that ros parameters are set. Finally call roslaunch Package_name application_name.launch
Documenatation of the library can be found here
Please mail pchalas1@hotmail.com to report any kind of bugs