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1 #+title: Simulated Sense of Sight
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2 #+author: Robert McIntyre
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3 #+email: rlm@mit.edu
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4 #+description: Simulated sight for AI research using JMonkeyEngine3
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5 #+keywords: computer vision, jMonkeyEngine3, clojure
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6 #+SETUPFILE: ../../aurellem/org/setup.org
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7 #+INCLUDE: ../../aurellem/org/level-0.org
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8 #+babel: :mkdirp yes :noweb yes :exports both
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9
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10 * Vision
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11
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12 I want to make creatures with eyes. Each eye can be independely moved
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13 and should see its own version of the world depending on where it is.
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14 #+srcname: eyes
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15 #+begin_src clojure
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16 (ns cortex.vision
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17 "Simulate the sense of vision in jMonkeyEngine3. Enables multiple
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18 eyes from different positions to observe the same world, and pass
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19 the observed data to any arbitray function."
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20 {:author "Robert McIntyre"}
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21 (:use cortex.world)
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22 (:import com.jme3.post.SceneProcessor)
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23 (:import (com.jme3.util Screenshots BufferUtils))
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24 (:import java.nio.ByteBuffer)
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25 (:import java.awt.image.BufferedImage)
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26 (:import com.jme3.renderer.ViewPort)
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27 (:import com.jme3.math.ColorRGBA))
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28
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29 (defn scene-processor
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30 "Create a SceneProcessor object which wraps a vision processing
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31 continuation function. The SceneProcessor will take care of
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32 converting the rendered frame to a BufferedImage and passing that
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33 BufferedImage to the continuation. The continuation should be a
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34 function that takes a BufferedImage."
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35 [continuation]
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36 (let [byte-buffer (atom nil)
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37 renderer (atom nil)
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38 image (atom nil)]
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39 (proxy [SceneProcessor] []
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40 (initialize
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41 [renderManager viewPort]
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42 (let [cam (.getCamera viewPort)
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43 width (.getWidth cam)
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44 height (.getHeight cam)]
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45 (reset! renderer (.getRenderer renderManager))
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46 (reset! byte-buffer
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47 (BufferUtils/createByteBuffer
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48 (* width height 4)))
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49 (reset! image (BufferedImage.
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50 width height
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51 BufferedImage/TYPE_4BYTE_ABGR))))
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52 (isInitialized [] (not (nil? @byte-buffer)))
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53 (reshape [_ _ _])
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54 (preFrame [_])
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55 (postQueue [_])
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56 (postFrame
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57 [#^FrameBuffer fb]
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58 (.clear @byte-buffer)
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59 (.readFrameBuffer @renderer fb @byte-buffer)
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60 (Screenshots/convertScreenShot @byte-buffer @image)
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61 (continuation @image))
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62 (cleanup []))))
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63
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64 (defn add-eye
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65 "Add an eye to the world, calling continuation on every frame
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66 produced."
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67 [world camera continuation]
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68 (let [width (.getWidth camera)
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69 height (.getHeight camera)
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70 render-manager (.getRenderManager world)
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71 viewport (.createMainView render-manager "eye-view" camera)]
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72 (doto viewport
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73 (.setClearFlags true true true)
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74 (.setBackgroundColor ColorRGBA/Gray)
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75 (.addProcessor (scene-processor continuation))
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76 (.attachScene (.getRootNode world)))))
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77
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78 #+end_src
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79
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80 Note the use of continuation passing style for connecting the eye to a
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81 function to process the output. You can create any number of eyes, and
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82 each of them will see the world from their own =Camera=. Once every
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83 frame, the rendered image is copied to a =BufferedImage=, and that
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84 data is sent off to the continuation function. Moving the =Camera=
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85 which was used to create the eye will change what the eye sees.
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86
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87 * Example
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88
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89 #+srcname: test-vision
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90 #+begin_src clojure
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91 (ns test.vision
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92 (:use (cortex world util vision))
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93 (:import java.awt.image.BufferedImage)
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94 (:import javax.swing.JPanel)
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95 (:import javax.swing.SwingUtilities)
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96 (:import java.awt.Dimension)
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97 (:import javax.swing.JFrame)
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98 (:import com.jme3.math.ColorRGBA)
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99 (:import com.jme3.scene.Node))
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100
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101 (defn view-image
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102 "Initailizes a JPanel on which you may draw a BufferedImage of the
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103 given width and height. Returns a function that accepts a
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104 BufferedImage and draws it to the JPanel."
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105 [width height]
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106 (let [image
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107 (atom
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108 (BufferedImage. width height BufferedImage/TYPE_4BYTE_ABGR))
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109 panel
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110 (proxy [JPanel] []
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111 (paint
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112 [graphics]
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113 (proxy-super paintComponent graphics)
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114 (.drawImage graphics @image 0 0 nil)
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115 ))]
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116
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117 (SwingUtilities/invokeLater
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118 (fn []
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119 (.setPreferredSize panel (Dimension. width height))
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120 (doto (JFrame. "Eye Camera!")
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121 (-> (.getContentPane) (.add panel))
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122 (.pack)
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123 (.setLocationRelativeTo nil)
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124 (.setResizable false)
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125 (.setVisible true))))
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126 (fn [#^BufferedImage i]
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127 (reset! image i)
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128 (.repaint panel))))
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129
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130 (defn test-vision
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131 "Tests the vision system by creating two views of the same rotating
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132 object from different angles and displaying both of those views in
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133 JFrames." []
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134 (.start
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135 (let [candy
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136 (box 1 1 1 :physical? false :color ColorRGBA/Blue)]
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137 (world (doto (Node.)
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138 (.attachChild candy))
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139 {}
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140 (fn [world]
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141 (let [cam (.clone (.getCamera world))
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142 width (.getWidth cam)
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143 height (.getHeight cam)]
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144 (add-eye world
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145 (doto (.clone cam)
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146 (.setLocation (Vector3f. -10 0 0))
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147 (.lookAt Vector3f/ZERO Vector3f/UNIT_Y))
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148 (view-image width height))
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149 (add-eye world cam
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150 (view-image width height))
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151 ;; this is here to restore the main view
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152 ;; after the other views have completed processing
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153 (add-eye world (.getCamera world) no-op)
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154 ))
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155 (fn [world tpf]
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156 (.rotate candy (* tpf 0.2) 0 0))))))
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157 #+end_src
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158
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159 The example code will create two videos of the same rotating object
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160 from different angles. It can be used both for stereoscopic vision
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161 simulation or for simulating multiple creatures, each with their own
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162 sense of vision.
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163
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164
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165 * COMMENT code generation
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166 #+begin_src clojure :tangle ../src/cortex/vision.clj
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167 <<eyes>>
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168 #+end_src
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169
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170 #+begin_src clojure :tangle ../src/test/vision.clj
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171 <<test-vision>>
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172 #+end_src
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