[Robotics] Middlewares: the sequel

[Gilberto Echeverria]

Hi Benoit,

We are currently trying to implement a stereo camera sensor. As you 
mentioned there are no python sensors at the moment, so our current 
approach is to use the Game Engine sensors connected to a python Controller.

The way we're trying to implement the stereo camera is by having two 
Blender camera objects on the robot, plus the scene camera. We want to 
generate screen captures of what the cameras on board the robot see, but 
without changing the users's view of the scene. As in Severin's example, 
we can capture a portion of the Blender screen using glReadPixels, but 
this requires the view from the robot camera to be shown on-screen. So 
what we need is to do off-screen rendering of the additional cameras. 
I'm looking at how this can be done in Blender 2.5.

 From the other threads I see that Blender 2.5 no longer includes the 
Blender module. So where can I now find the BGL or equivalent module to 
make use of OpenGL functions? Is there any documentation available at 
the moment?

Cheers
Gilberto


Benoit Bolsee wrote:
> Nice stuff! I see clearly how it will work for controllers but what
> about sensors? There is currently no 'python' sensor. Of course you can
> always replace a sensor by a python controller running for each frame
> and doing some detection work.
>
> But for performance reason you might want to implement some C++ sensors.
> It's fairly easy to simulate a camera sensor: all the code necessary to
> render the scene from a camera object is present in the GE. It just
> needs to be put together. Using OGL filters, you could even simulate
> noise, black&white camera, etc. It would even be possible to simulate a
> ultrasonic or radar sensor by processing the Zbuffer.
>
> /benoit
>
>   
>> -----Original Message-----
>> From: robotics-bounces at blender.org 
>> [mailto:robotics-bounces at blender.org] On Behalf Of Séverin Lemaignan
>> Sent: mardi 15 septembre 2009 9:57
>> To: Blender and Robotics
>> Subject: [Robotics] Middlewares: the sequel
>>
>>
>> Hello everyone,
>>
>> I've put on the wiki the current state of our design ideas for a 
>> component-based, middleware independent, simulator (check the 
>> two last 
>> sections on this page 
>> http://wiki.blender.org/index.php/Robotics:Simulators/OpenRobots).
>>
>> We are currently implementing first examples of such components 
>> (starting with a GPS and a simple mobile robot), but it's still at 
>> drafting stage, and your reviews are very welcome.
>>
>> It would be especially interesting to think of how to 
>> integrate what has 
>> been done on the arm in this workflow (if it's relevant). I'm also 
>> interested in Stefaan views regarding the possible use of channels 
>> within the component specification.
>>
>> By the way, we have a meeting tomorrow at LAAS-CNRS and ONERA 
>> to update 
>> the roadmap. We'll keep you posted, but the target for a 
>> first, usable 
>> release of the OpenRobots simulator is likely to be mid-march.
>>
>> Best regards,
>> Severin
>>
>>     
>
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