Mercurial > cortex

annotate org/eyes.org @ 25:775d97247dd0

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
cleaning up world.org
author Robert McIntyre <rlm@mit.edu>
date Mon, 24 Oct 2011 05:25:01 -0700
parents e965675ec4d0
children 183744c179e6
rev   line source
rlm@23 1 #+title: Eyes
rlm@23 2 #+author: Robert McIntyre
rlm@23 3 #+email: rlm@mit.edu
rlm@23 4 #+description: Simulating senses for AI research using JMonkeyEngine3
rlm@23 5 #+SETUPFILE: ../../aurellem/org/setup.org
rlm@23 6 #+INCLUDE: ../../aurellem/org/level-0.org
rlm@23 7 #+babel: :mkdirp yes :noweb yes :exports both
rlm@23 8
rlm@23 9
rlm@23 10
rlm@23 11 ** Eyes
rlm@23 12
rlm@23 13 Ultimately I want to make creatures with eyes. Each eye can be
rlm@23 14 independely moved and should see its own version of the world
rlm@23 15 depending on where it is.
rlm@23 16 #+srcname: eyes
rlm@23 17 #+begin_src clojure
rlm@23 18 (ns body.eye)
rlm@23 19 (use 'cortex.world)
rlm@23 20 (use 'cortex.import)
rlm@23 21 (use 'clojure.contrib.def)
rlm@23 22 (cortex.import/mega-import-jme3)
rlm@23 23 (rlm.rlm-commands/help)
rlm@23 24 (import java.nio.ByteBuffer)
rlm@23 25 (import java.awt.image.BufferedImage)
rlm@23 26 (import java.awt.Color)
rlm@23 27 (import java.awt.Dimension)
rlm@23 28 (import java.awt.Graphics)
rlm@23 29 (import java.awt.Graphics2D)
rlm@23 30 (import java.awt.event.WindowAdapter)
rlm@23 31 (import java.awt.event.WindowEvent)
rlm@23 32 (import java.awt.image.BufferedImage)
rlm@23 33 (import java.nio.ByteBuffer)
rlm@23 34 (import javax.swing.JFrame)
rlm@23 35 (import javax.swing.JPanel)
rlm@23 36 (import javax.swing.SwingUtilities)
rlm@23 37 (import javax.swing.ImageIcon)
rlm@23 38 (import javax.swing.JOptionPane)
rlm@23 39 (import java.awt.image.ImageObserver)
rlm@23 40
rlm@23 41 (defn scene-processor
rlm@23 42 "deals with converting FrameBuffers to BufferedImages so
rlm@23 43 that the continuation function can be defined only in terms
rlm@23 44 of what it does with BufferedImages"
rlm@23 45 [continuation]
rlm@23 46 (let [byte-buffer (atom nil)
rlm@23 47 renderer (atom nil)
rlm@23 48 image (atom nil)]
rlm@23 49 (proxy [SceneProcessor] []
rlm@23 50 (initialize
rlm@23 51 [renderManager viewPort]
rlm@23 52 (let [cam (.getCamera viewPort)
rlm@23 53 width (.getWidth cam)
rlm@23 54 height (.getHeight cam)]
rlm@23 55 (reset! renderer (.getRenderer renderManager))
rlm@23 56 (reset! byte-buffer
rlm@23 57 (BufferUtils/createByteBuffer
rlm@23 58 (* width height 4)))
rlm@23 59 (reset! image (BufferedImage. width height
rlm@23 60 BufferedImage/TYPE_4BYTE_ABGR))))
rlm@23 61 (isInitialized [] (not (nil? @byte-buffer)))
rlm@23 62 (reshape [_ _ _])
rlm@23 63 (preFrame [_])
rlm@23 64 (postQueue [_])
rlm@23 65 (postFrame
rlm@23 66 [#^FrameBuffer fb]
rlm@23 67 (.clear @byte-buffer)
rlm@23 68 (.readFrameBuffer @renderer fb @byte-buffer)
rlm@23 69 (Screenshots/convertScreenShot @byte-buffer @image)
rlm@23 70 (continuation @image))
rlm@23 71 (cleanup []))))
rlm@23 72
rlm@23 73 (defn add-eye
rlm@23 74 "Add an eye to the world, and call continuation on
rlm@23 75 every frame produced"
rlm@23 76 [world camera continuation]
rlm@23 77 (let [width (.getWidth camera)
rlm@23 78 height (.getHeight camera)
rlm@23 79 render-manager (.getRenderManager world)
rlm@23 80 viewport (.createMainView render-manager "eye-view" camera)]
rlm@23 81 (doto viewport
rlm@23 82 (.setBackgroundColor ColorRGBA/Black)
rlm@23 83 (.setClearFlags true true true)
rlm@23 84 (.addProcessor (scene-processor continuation))
rlm@23 85 (.attachScene (.getRootNode world)))))
rlm@23 86
rlm@23 87 (defn make-display-frame [display width height]
rlm@23 88 (SwingUtilities/invokeLater
rlm@23 89 (fn []
rlm@23 90 (.setPreferredSize display (Dimension. width height))
rlm@23 91 (doto (JFrame. "Eye Camera!")
rlm@23 92 (-> (.getContentPane) (.add display))
rlm@23 93 (.setDefaultCloseOperation JFrame/DISPOSE_ON_CLOSE)
rlm@23 94 (.pack)
rlm@23 95 (.setLocationRelativeTo nil)
rlm@23 96 (.setResizable false)
rlm@23 97 (.setVisible true)))))
rlm@23 98
rlm@23 99 (defn image-monitor [#^BufferedImage image]
rlm@23 100 (proxy [JPanel] []
rlm@23 101 (paintComponent
rlm@23 102 [g]
rlm@23 103 (proxy-super paintComponent g)
rlm@23 104 (locking image
rlm@23 105 (.drawImage g image 0 0
rlm@23 106 (proxy [ImageObserver]
rlm@23 107 []
rlm@23 108 (imageUpdate
rlm@23 109 []
rlm@23 110 (proxy-super imageUpdate))))))))
rlm@23 111
rlm@23 112 (defn movie-image []
rlm@23 113 (let [setup
rlm@23 114 (runonce
rlm@23 115 (fn [#^BufferedImage image]
rlm@23 116 (let [width (.getWidth image)
rlm@23 117 height (.getHeight image)
rlm@23 118 display (image-monitor image)
rlm@23 119 frame (make-display-frame display width height)]
rlm@23 120 display)))]
rlm@23 121 (fn [#^BufferedImage image]
rlm@23 122 (.repaint (setup image)))))
rlm@23 123
rlm@23 124
rlm@23 125 (defn observer
rlm@23 126 "place thy eye!"
rlm@23 127 [world camera]
rlm@23 128 (let [eye camera
rlm@23 129 width (.getWidth eye)
rlm@23 130 height (.getHeight eye)]
rlm@23 131 (no-exceptions
rlm@23 132 (add-eye
rlm@23 133 world
rlm@23 134 eye
rlm@23 135 (movie-image)))))
rlm@23 136 #+end_src
rlm@23 137
rlm@23 138 #+srcname: test-vision
rlm@23 139 #+begin_src clojure
rlm@23 140
rlm@23 141 (ns test.vision)
rlm@23 142 (use 'cortex.world)
rlm@23 143 (use 'cortex.import)
rlm@23 144 (use 'clojure.contrib.def)
rlm@23 145 (use 'body.eye)
rlm@23 146 (cortex.import/mega-import-jme3)
rlm@23 147 (rlm.rlm-commands/help)
rlm@23 148 (import java.nio.ByteBuffer)
rlm@23 149 (import java.awt.image.BufferedImage)
rlm@23 150 (import java.awt.Color)
rlm@23 151 (import java.awt.Dimension)
rlm@23 152 (import java.awt.Graphics)
rlm@23 153 (import java.awt.Graphics2D)
rlm@23 154 (import java.awt.event.WindowAdapter)
rlm@23 155 (import java.awt.event.WindowEvent)
rlm@23 156 (import java.awt.image.BufferedImage)
rlm@23 157 (import java.nio.ByteBuffer)
rlm@23 158 (import javax.swing.JFrame)
rlm@23 159 (import javax.swing.JPanel)
rlm@23 160 (import javax.swing.SwingUtilities)
rlm@23 161 (import javax.swing.ImageIcon)
rlm@23 162 (import javax.swing.JOptionPane)
rlm@23 163 (import java.awt.image.ImageObserver)
rlm@23 164
rlm@23 165
rlm@23 166 (def width 200)
rlm@23 167 (def height 200)
rlm@23 168
rlm@23 169 (defn camera []
rlm@23 170 (doto (Camera. width height)
rlm@23 171 (.setFrustumPerspective 45 1 1 1000)
rlm@23 172 (.setLocation (Vector3f. -3 0 -5))
rlm@23 173 (.lookAt Vector3f/ZERO Vector3f/UNIT_Y)))
rlm@23 174
rlm@23 175 (defn camera2 []
rlm@23 176 (doto (Camera. width height)
rlm@23 177 (.setFrustumPerspective 45 1 1 1000)
rlm@23 178 (.setLocation (Vector3f. 3 0 -5))
rlm@23 179 (.lookAt Vector3f/ZERO Vector3f/UNIT_Y)))
rlm@23 180
rlm@23 181 (defn setup-fn [world]
rlm@23 182 (let [eye (camera)
rlm@23 183 width (.getWidth eye)
rlm@23 184 height (.getHeight eye)]
rlm@23 185 (no-exceptions
rlm@23 186 (add-eye
rlm@23 187 world
rlm@23 188 eye
rlm@23 189 (runonce visual))
rlm@23 190 (add-eye
rlm@23 191 world
rlm@23 192 (camera2)
rlm@23 193 (runonce visual)))))
rlm@23 194
rlm@23 195 (defn spider-eye [position]
rlm@23 196 (doto (Camera. 200 200 )
rlm@23 197 (.setFrustumPerspective 45 1 1 1000)
rlm@23 198 (.setLocation position)
rlm@23 199 (.lookAt Vector3f/ZERO Vector3f/UNIT_Y)))
rlm@23 200
rlm@23 201 (defn setup-fn* [world]
rlm@23 202 (let [eye (camera)
rlm@23 203 width (.getWidth eye)
rlm@23 204 height (.getHeight eye)]
rlm@23 205 ;;(.setClearFlags (.getViewPort world) true true true)
rlm@23 206 (observer world (.getCamera world))
rlm@23 207 (observer world (spider-eye (Vector3f. 3 0 -5)))
rlm@23 208 ;;(observer world (spider-eye (Vector3f. 0 0 -5)))
rlm@23 209 ;; (observer world (spider-eye (Vector3f. -3 0 -5)))
rlm@23 210 ;; (observer world (spider-eye (Vector3f. 0 3 -5)))
rlm@23 211 ;; (observer world (spider-eye (Vector3f. 0 -3 -5)))
rlm@23 212 ;; (observer world (spider-eye (Vector3f. 3 3 -5)))
rlm@23 213 ;; (observer world (spider-eye (Vector3f. -3 3 -5)))
rlm@23 214 ;; (observer world (spider-eye (Vector3f. 3 -3 -5)))
rlm@23 215 ;; (observer world (spider-eye (Vector3f. -3 -3 -5)))
rlm@23 216
rlm@23 217 )
rlm@23 218 world)
rlm@23 219
rlm@23 220 (defn test-world []
rlm@23 221 (let [thing (box 1 1 1 :physical? false)]
rlm@23 222 (world
rlm@23 223 (doto (Node.)
rlm@23 224 (.attachChild thing))
rlm@23 225 {}
rlm@23 226 setup-fn
rlm@23 227 (fn [world tpf]
rlm@23 228 (.rotate thing (* tpf 0.2) 0 0)
rlm@23 229 ))))
rlm@23 230
rlm@23 231
rlm@23 232 #+end_src
rlm@23 233
rlm@23 234
rlm@23 235 #+results: eyes
rlm@23 236 : #'body.eye/test-world
rlm@23 237
rlm@23 238 Note the use of continuation passing style for connecting the eye to a
rlm@23 239 function to process the output. The example code will create two
rlm@23 240 videos of the same rotating cube from different angles, sutiable for
rlm@23 241 stereoscopic vision.
rlm@24 242
rlm@24 243
rlm@24 244
rlm@24 245 * COMMENT code generation
rlm@24 246 #+begin_src clojure :tangle ../src/body/eye.clj
rlm@24 247 <<eyes>>
rlm@24 248 #+end_src
rlm@24 249
rlm@24 250 #+begin_src clojure :tangle ../src/test/vision.clj
rlm@24 251 <<test-vision>>
rlm@24 252 #+end_src