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author Robert McIntyre <rlm@mit.edu>
date Tue, 14 Feb 2012 05:30:55 -0700
parents e57d8c52f12f
children 12e6231eae8e c39b8b29a79e
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rlm@34 1 #+title: Simulated Sense of Sight
rlm@23 2 #+author: Robert McIntyre
rlm@23 3 #+email: rlm@mit.edu
rlm@38 4 #+description: Simulated sight for AI research using JMonkeyEngine3 and clojure
rlm@34 5 #+keywords: computer vision, jMonkeyEngine3, clojure
rlm@23 6 #+SETUPFILE: ../../aurellem/org/setup.org
rlm@23 7 #+INCLUDE: ../../aurellem/org/level-0.org
rlm@23 8 #+babel: :mkdirp yes :noweb yes :exports both
rlm@23 9
ocsenave@265 10 # SUGGEST: Call functions by their name, without
ocsenave@265 11 # parentheses. e.g. =add-eye!=, not =(add-eye!)=. The reason for this
ocsenave@265 12 # is that it is potentially easy to confuse the /function/ =f= with its
ocsenave@265 13 # /value/ at a particular point =(f x)=. Mathematicians have this
ocsenave@265 14 # problem with their notation; we don't need it in ours.
ocsenave@265 15
ocsenave@264 16 * JMonkeyEngine natively supports multiple views of the same world.
ocsenave@264 17
rlm@212 18 Vision is one of the most important senses for humans, so I need to
rlm@212 19 build a simulated sense of vision for my AI. I will do this with
rlm@212 20 simulated eyes. Each eye can be independely moved and should see its
rlm@212 21 own version of the world depending on where it is.
rlm@212 22
rlm@218 23 Making these simulated eyes a reality is simple bacause jMonkeyEngine
rlm@218 24 already conatains extensive support for multiple views of the same 3D
rlm@218 25 simulated world. The reason jMonkeyEngine has this support is because
rlm@218 26 the support is necessary to create games with split-screen
rlm@218 27 views. Multiple views are also used to create efficient
rlm@212 28 pseudo-reflections by rendering the scene from a certain perspective
rlm@212 29 and then projecting it back onto a surface in the 3D world.
rlm@212 30
rlm@218 31 #+caption: jMonkeyEngine supports multiple views to enable split-screen games, like GoldenEye, which was one of the first games to use split-screen views.
rlm@212 32 [[../images/goldeneye-4-player.png]]
rlm@212 33
ocsenave@264 34 ** =ViewPorts=, =SceneProcessors=, and the =RenderManager=.
ocsenave@264 35 # =Viewports= are cameras; =RenderManger= takes snapshots each frame.
ocsenave@264 36 #* A Brief Description of jMonkeyEngine's Rendering Pipeline
rlm@212 37
rlm@213 38 jMonkeyEngine allows you to create a =ViewPort=, which represents a
rlm@213 39 view of the simulated world. You can create as many of these as you
rlm@213 40 want. Every frame, the =RenderManager= iterates through each
rlm@213 41 =ViewPort=, rendering the scene in the GPU. For each =ViewPort= there
rlm@213 42 is a =FrameBuffer= which represents the rendered image in the GPU.
rlm@151 43
ocsenave@262 44 #+caption: =ViewPorts= are cameras in the world. During each frame, the =Rendermanager= records a snapshot of what each view is currently seeing.
ocsenave@265 45 #+ATTR_HTML: width="400"
ocsenave@262 46 [[../images/diagram_rendermanager.png]]
ocsenave@262 47
rlm@213 48 Each =ViewPort= can have any number of attached =SceneProcessor=
rlm@213 49 objects, which are called every time a new frame is rendered. A
rlm@219 50 =SceneProcessor= recieves its =ViewPort's= =FrameBuffer= and can do
rlm@219 51 whatever it wants to the data. Often this consists of invoking GPU
rlm@219 52 specific operations on the rendered image. The =SceneProcessor= can
rlm@219 53 also copy the GPU image data to RAM and process it with the CPU.
rlm@151 54
ocsenave@264 55 ** From Views to Vision
ocsenave@264 56 # Appropriating Views for Vision.
rlm@151 57
ocsenave@264 58 Each eye in the simulated creature needs its own =ViewPort= so that
rlm@213 59 it can see the world from its own perspective. To this =ViewPort=, I
rlm@214 60 add a =SceneProcessor= that feeds the visual data to any arbitray
rlm@213 61 continuation function for further processing. That continuation
rlm@213 62 function may perform both CPU and GPU operations on the data. To make
rlm@213 63 this easy for the continuation function, the =SceneProcessor=
rlm@213 64 maintains appropriatly sized buffers in RAM to hold the data. It does
rlm@218 65 not do any copying from the GPU to the CPU itself because it is a slow
rlm@218 66 operation.
rlm@214 67
rlm@213 68 #+name: pipeline-1
rlm@213 69 #+begin_src clojure
rlm@113 70 (defn vision-pipeline
rlm@34 71 "Create a SceneProcessor object which wraps a vision processing
rlm@113 72 continuation function. The continuation is a function that takes
rlm@113 73 [#^Renderer r #^FrameBuffer fb #^ByteBuffer b #^BufferedImage bi],
rlm@113 74 each of which has already been appropiately sized."
rlm@23 75 [continuation]
rlm@23 76 (let [byte-buffer (atom nil)
rlm@113 77 renderer (atom nil)
rlm@113 78 image (atom nil)]
rlm@23 79 (proxy [SceneProcessor] []
rlm@23 80 (initialize
rlm@23 81 [renderManager viewPort]
rlm@23 82 (let [cam (.getCamera viewPort)
rlm@23 83 width (.getWidth cam)
rlm@23 84 height (.getHeight cam)]
rlm@23 85 (reset! renderer (.getRenderer renderManager))
rlm@23 86 (reset! byte-buffer
rlm@23 87 (BufferUtils/createByteBuffer
rlm@113 88 (* width height 4)))
rlm@113 89 (reset! image (BufferedImage.
rlm@113 90 width height
rlm@113 91 BufferedImage/TYPE_4BYTE_ABGR))))
rlm@23 92 (isInitialized [] (not (nil? @byte-buffer)))
rlm@23 93 (reshape [_ _ _])
rlm@23 94 (preFrame [_])
rlm@23 95 (postQueue [_])
rlm@23 96 (postFrame
rlm@23 97 [#^FrameBuffer fb]
rlm@23 98 (.clear @byte-buffer)
rlm@113 99 (continuation @renderer fb @byte-buffer @image))
rlm@23 100 (cleanup []))))
rlm@213 101 #+end_src
rlm@213 102
rlm@213 103 The continuation function given to =(vision-pipeline)= above will be
rlm@213 104 given a =Renderer= and three containers for image data. The
rlm@218 105 =FrameBuffer= references the GPU image data, but the pixel data can
rlm@218 106 not be used directly on the CPU. The =ByteBuffer= and =BufferedImage=
rlm@219 107 are initially "empty" but are sized to hold the data in the
rlm@213 108 =FrameBuffer=. I call transfering the GPU image data to the CPU
rlm@213 109 structures "mixing" the image data. I have provided three functions to
rlm@213 110 do this mixing.
rlm@213 111
rlm@213 112 #+name: pipeline-2
rlm@213 113 #+begin_src clojure
rlm@113 114 (defn frameBuffer->byteBuffer!
rlm@113 115 "Transfer the data in the graphics card (Renderer, FrameBuffer) to
rlm@113 116 the CPU (ByteBuffer)."
rlm@113 117 [#^Renderer r #^FrameBuffer fb #^ByteBuffer bb]
rlm@113 118 (.readFrameBuffer r fb bb) bb)
rlm@113 119
rlm@113 120 (defn byteBuffer->bufferedImage!
rlm@113 121 "Convert the C-style BGRA image data in the ByteBuffer bb to the AWT
rlm@113 122 style ABGR image data and place it in BufferedImage bi."
rlm@113 123 [#^ByteBuffer bb #^BufferedImage bi]
rlm@113 124 (Screenshots/convertScreenShot bb bi) bi)
rlm@113 125
rlm@113 126 (defn BufferedImage!
rlm@113 127 "Continuation which will grab the buffered image from the materials
rlm@113 128 provided by (vision-pipeline)."
rlm@113 129 [#^Renderer r #^FrameBuffer fb #^ByteBuffer bb #^BufferedImage bi]
rlm@113 130 (byteBuffer->bufferedImage!
rlm@113 131 (frameBuffer->byteBuffer! r fb bb) bi))
rlm@213 132 #+end_src
rlm@112 133
rlm@213 134 Note that it is possible to write vision processing algorithms
rlm@213 135 entirely in terms of =BufferedImage= inputs. Just compose that
rlm@213 136 =BufferedImage= algorithm with =(BufferedImage!)=. However, a vision
rlm@213 137 processing algorithm that is entirely hosted on the GPU does not have
rlm@213 138 to pay for this convienence.
rlm@213 139
ocsenave@265 140 * Optical sensor arrays are described with images and referenced with metadata
rlm@214 141 The vision pipeline described above handles the flow of rendered
rlm@214 142 images. Now, we need simulated eyes to serve as the source of these
rlm@214 143 images.
rlm@214 144
rlm@214 145 An eye is described in blender in the same way as a joint. They are
rlm@214 146 zero dimensional empty objects with no geometry whose local coordinate
rlm@214 147 system determines the orientation of the resulting eye. All eyes are
rlm@214 148 childern of a parent node named "eyes" just as all joints have a
rlm@214 149 parent named "joints". An eye binds to the nearest physical object
rlm@214 150 with =(bind-sense=).
rlm@214 151
rlm@214 152 #+name: add-eye
rlm@214 153 #+begin_src clojure
rlm@215 154 (in-ns 'cortex.vision)
rlm@215 155
rlm@214 156 (defn add-eye!
rlm@214 157 "Create a Camera centered on the current position of 'eye which
rlm@214 158 follows the closest physical node in 'creature and sends visual
rlm@215 159 data to 'continuation. The camera will point in the X direction and
rlm@215 160 use the Z vector as up as determined by the rotation of these
rlm@215 161 vectors in blender coordinate space. Use XZY rotation for the node
rlm@215 162 in blender."
rlm@214 163 [#^Node creature #^Spatial eye]
rlm@214 164 (let [target (closest-node creature eye)
rlm@214 165 [cam-width cam-height] (eye-dimensions eye)
rlm@215 166 cam (Camera. cam-width cam-height)
rlm@215 167 rot (.getWorldRotation eye)]
rlm@214 168 (.setLocation cam (.getWorldTranslation eye))
rlm@218 169 (.lookAtDirection
rlm@218 170 cam ; this part is not a mistake and
rlm@218 171 (.mult rot Vector3f/UNIT_X) ; is consistent with using Z in
rlm@218 172 (.mult rot Vector3f/UNIT_Y)) ; blender as the UP vector.
rlm@214 173 (.setFrustumPerspective
rlm@215 174 cam 45 (/ (.getWidth cam) (.getHeight cam)) 1 1000)
rlm@215 175 (bind-sense target cam) cam))
rlm@214 176 #+end_src
rlm@214 177
rlm@214 178 Here, the camera is created based on metadata on the eye-node and
rlm@214 179 attached to the nearest physical object with =(bind-sense)=
rlm@214 180 ** The Retina
rlm@214 181
rlm@214 182 An eye is a surface (the retina) which contains many discrete sensors
rlm@218 183 to detect light. These sensors have can have different light-sensing
rlm@214 184 properties. In humans, each discrete sensor is sensitive to red,
rlm@214 185 blue, green, or gray. These different types of sensors can have
rlm@214 186 different spatial distributions along the retina. In humans, there is
rlm@214 187 a fovea in the center of the retina which has a very high density of
rlm@214 188 color sensors, and a blind spot which has no sensors at all. Sensor
rlm@219 189 density decreases in proportion to distance from the fovea.
rlm@214 190
rlm@214 191 I want to be able to model any retinal configuration, so my eye-nodes
rlm@214 192 in blender contain metadata pointing to images that describe the
rlm@214 193 percise position of the individual sensors using white pixels. The
rlm@214 194 meta-data also describes the percise sensitivity to light that the
rlm@214 195 sensors described in the image have. An eye can contain any number of
rlm@214 196 these images. For example, the metadata for an eye might look like
rlm@214 197 this:
rlm@214 198
rlm@214 199 #+begin_src clojure
rlm@214 200 {0xFF0000 "Models/test-creature/retina-small.png"}
rlm@214 201 #+end_src
rlm@214 202
rlm@214 203 #+caption: The retinal profile image "Models/test-creature/retina-small.png". White pixels are photo-sensitive elements. The distribution of white pixels is denser in the middle and falls off at the edges and is inspired by the human retina.
rlm@214 204 [[../assets/Models/test-creature/retina-small.png]]
rlm@214 205
rlm@214 206 Together, the number 0xFF0000 and the image image above describe the
rlm@214 207 placement of red-sensitive sensory elements.
rlm@214 208
rlm@214 209 Meta-data to very crudely approximate a human eye might be something
rlm@214 210 like this:
rlm@214 211
rlm@214 212 #+begin_src clojure
rlm@214 213 (let [retinal-profile "Models/test-creature/retina-small.png"]
rlm@214 214 {0xFF0000 retinal-profile
rlm@214 215 0x00FF00 retinal-profile
rlm@214 216 0x0000FF retinal-profile
rlm@214 217 0xFFFFFF retinal-profile})
rlm@214 218 #+end_src
rlm@214 219
rlm@214 220 The numbers that serve as keys in the map determine a sensor's
rlm@214 221 relative sensitivity to the channels red, green, and blue. These
rlm@218 222 sensitivity values are packed into an integer in the order =|_|R|G|B|=
rlm@218 223 in 8-bit fields. The RGB values of a pixel in the image are added
rlm@214 224 together with these sensitivities as linear weights. Therfore,
rlm@214 225 0xFF0000 means sensitive to red only while 0xFFFFFF means sensitive to
rlm@214 226 all colors equally (gray).
rlm@214 227
rlm@214 228 For convienence I've defined a few symbols for the more common
rlm@214 229 sensitivity values.
rlm@214 230
rlm@214 231 #+name: sensitivity
rlm@214 232 #+begin_src clojure
rlm@214 233 (defvar sensitivity-presets
rlm@214 234 {:all 0xFFFFFF
rlm@214 235 :red 0xFF0000
rlm@214 236 :blue 0x0000FF
rlm@214 237 :green 0x00FF00}
rlm@214 238 "Retinal sensitivity presets for sensors that extract one channel
rlm@219 239 (:red :blue :green) or average all channels (:all)")
rlm@214 240 #+end_src
rlm@214 241
rlm@214 242 ** Metadata Processing
rlm@214 243
rlm@214 244 =(retina-sensor-profile)= extracts a map from the eye-node in the same
rlm@214 245 format as the example maps above. =(eye-dimensions)= finds the
rlm@219 246 dimensions of the smallest image required to contain all the retinal
rlm@214 247 sensor maps.
rlm@214 248
rlm@216 249 #+name: retina
rlm@214 250 #+begin_src clojure
rlm@214 251 (defn retina-sensor-profile
rlm@214 252 "Return a map of pixel sensitivity numbers to BufferedImages
rlm@214 253 describing the distribution of light-sensitive components of this
rlm@214 254 eye. :red, :green, :blue, :gray are already defined as extracting
rlm@214 255 the red, green, blue, and average components respectively."
rlm@214 256 [#^Spatial eye]
rlm@214 257 (if-let [eye-map (meta-data eye "eye")]
rlm@214 258 (map-vals
rlm@214 259 load-image
rlm@214 260 (eval (read-string eye-map)))))
rlm@214 261
rlm@218 262 (defn eye-dimensions
rlm@218 263 "Returns [width, height] determined by the metadata of the eye."
rlm@214 264 [#^Spatial eye]
rlm@214 265 (let [dimensions
rlm@214 266 (map #(vector (.getWidth %) (.getHeight %))
rlm@214 267 (vals (retina-sensor-profile eye)))]
rlm@214 268 [(apply max (map first dimensions))
rlm@214 269 (apply max (map second dimensions))]))
rlm@214 270 #+end_src
rlm@214 271
ocsenave@265 272 * Importing and parsing descriptions of eyes.
rlm@214 273 First off, get the children of the "eyes" empty node to find all the
rlm@214 274 eyes the creature has.
rlm@216 275 #+name: eye-node
rlm@214 276 #+begin_src clojure
rlm@214 277 (defvar
rlm@214 278 ^{:arglists '([creature])}
rlm@214 279 eyes
rlm@214 280 (sense-nodes "eyes")
rlm@214 281 "Return the children of the creature's \"eyes\" node.")
rlm@214 282 #+end_src
rlm@214 283
rlm@215 284 Then, add the camera created by =(add-eye!)= to the simulation by
rlm@215 285 creating a new viewport.
rlm@214 286
rlm@216 287 #+name: add-camera
rlm@213 288 #+begin_src clojure
rlm@169 289 (defn add-camera!
rlm@169 290 "Add a camera to the world, calling continuation on every frame
rlm@34 291 produced."
rlm@167 292 [#^Application world camera continuation]
rlm@23 293 (let [width (.getWidth camera)
rlm@23 294 height (.getHeight camera)
rlm@23 295 render-manager (.getRenderManager world)
rlm@23 296 viewport (.createMainView render-manager "eye-view" camera)]
rlm@23 297 (doto viewport
rlm@23 298 (.setClearFlags true true true)
rlm@112 299 (.setBackgroundColor ColorRGBA/Black)
rlm@113 300 (.addProcessor (vision-pipeline continuation))
rlm@23 301 (.attachScene (.getRootNode world)))))
rlm@215 302 #+end_src
rlm@151 303
rlm@151 304
rlm@218 305 The eye's continuation function should register the viewport with the
rlm@218 306 simulation the first time it is called, use the CPU to extract the
rlm@215 307 appropriate pixels from the rendered image and weight them by each
rlm@218 308 sensor's sensitivity. I have the option to do this processing in
rlm@218 309 native code for a slight gain in speed. I could also do it in the GPU
rlm@218 310 for a massive gain in speed. =(vision-kernel)= generates a list of
rlm@218 311 such continuation functions, one for each channel of the eye.
rlm@151 312
rlm@216 313 #+name: kernel
rlm@215 314 #+begin_src clojure
rlm@215 315 (in-ns 'cortex.vision)
rlm@151 316
rlm@215 317 (defrecord attached-viewport [vision-fn viewport-fn]
rlm@215 318 clojure.lang.IFn
rlm@215 319 (invoke [this world] (vision-fn world))
rlm@215 320 (applyTo [this args] (apply vision-fn args)))
rlm@151 321
rlm@216 322 (defn pixel-sense [sensitivity pixel]
rlm@216 323 (let [s-r (bit-shift-right (bit-and 0xFF0000 sensitivity) 16)
rlm@216 324 s-g (bit-shift-right (bit-and 0x00FF00 sensitivity) 8)
rlm@216 325 s-b (bit-and 0x0000FF sensitivity)
rlm@216 326
rlm@216 327 p-r (bit-shift-right (bit-and 0xFF0000 pixel) 16)
rlm@216 328 p-g (bit-shift-right (bit-and 0x00FF00 pixel) 8)
rlm@216 329 p-b (bit-and 0x0000FF pixel)
rlm@216 330
rlm@216 331 total-sensitivity (* 255 (+ s-r s-g s-b))]
rlm@216 332 (float (/ (+ (* s-r p-r)
rlm@216 333 (* s-g p-g)
rlm@216 334 (* s-b p-b))
rlm@216 335 total-sensitivity))))
rlm@216 336
rlm@215 337 (defn vision-kernel
rlm@171 338 "Returns a list of functions, each of which will return a color
rlm@171 339 channel's worth of visual information when called inside a running
rlm@171 340 simulation."
rlm@151 341 [#^Node creature #^Spatial eye & {skip :skip :or {skip 0}}]
rlm@169 342 (let [retinal-map (retina-sensor-profile eye)
rlm@169 343 camera (add-eye! creature eye)
rlm@151 344 vision-image
rlm@151 345 (atom
rlm@151 346 (BufferedImage. (.getWidth camera)
rlm@151 347 (.getHeight camera)
rlm@170 348 BufferedImage/TYPE_BYTE_BINARY))
rlm@170 349 register-eye!
rlm@170 350 (runonce
rlm@170 351 (fn [world]
rlm@170 352 (add-camera!
rlm@170 353 world camera
rlm@170 354 (let [counter (atom 0)]
rlm@170 355 (fn [r fb bb bi]
rlm@170 356 (if (zero? (rem (swap! counter inc) (inc skip)))
rlm@170 357 (reset! vision-image
rlm@170 358 (BufferedImage! r fb bb bi))))))))]
rlm@151 359 (vec
rlm@151 360 (map
rlm@151 361 (fn [[key image]]
rlm@151 362 (let [whites (white-coordinates image)
rlm@151 363 topology (vec (collapse whites))
rlm@216 364 sensitivity (sensitivity-presets key key)]
rlm@215 365 (attached-viewport.
rlm@215 366 (fn [world]
rlm@215 367 (register-eye! world)
rlm@215 368 (vector
rlm@215 369 topology
rlm@215 370 (vec
rlm@215 371 (for [[x y] whites]
rlm@216 372 (pixel-sense
rlm@216 373 sensitivity
rlm@216 374 (.getRGB @vision-image x y))))))
rlm@215 375 register-eye!)))
rlm@215 376 retinal-map))))
rlm@151 377
rlm@215 378 (defn gen-fix-display
rlm@215 379 "Create a function to call to restore a simulation's display when it
rlm@215 380 is disrupted by a Viewport."
rlm@215 381 []
rlm@215 382 (runonce
rlm@215 383 (fn [world]
rlm@215 384 (add-camera! world (.getCamera world) no-op))))
rlm@215 385 #+end_src
rlm@170 386
rlm@215 387 Note that since each of the functions generated by =(vision-kernel)=
rlm@215 388 shares the same =(register-eye!)= function, the eye will be registered
rlm@215 389 only once the first time any of the functions from the list returned
rlm@215 390 by =(vision-kernel)= is called. Each of the functions returned by
rlm@215 391 =(vision-kernel)= also allows access to the =Viewport= through which
rlm@215 392 it recieves images.
rlm@215 393
rlm@215 394 The in-game display can be disrupted by all the viewports that the
rlm@215 395 functions greated by =(vision-kernel)= add. This doesn't affect the
rlm@215 396 simulation or the simulated senses, but can be annoying.
rlm@215 397 =(gen-fix-display)= restores the in-simulation display.
rlm@215 398
ocsenave@265 399 ** The =vision!= function creates sensory probes.
rlm@215 400
rlm@218 401 All the hard work has been done; all that remains is to apply
rlm@215 402 =(vision-kernel)= to each eye in the creature and gather the results
rlm@215 403 into one list of functions.
rlm@215 404
rlm@216 405 #+name: main
rlm@215 406 #+begin_src clojure
rlm@170 407 (defn vision!
rlm@170 408 "Returns a function which returns visual sensory data when called
rlm@218 409 inside a running simulation."
rlm@151 410 [#^Node creature & {skip :skip :or {skip 0}}]
rlm@151 411 (reduce
rlm@170 412 concat
rlm@167 413 (for [eye (eyes creature)]
rlm@215 414 (vision-kernel creature eye))))
rlm@215 415 #+end_src
rlm@151 416
ocsenave@265 417 ** Displaying visual data for debugging.
ocsenave@265 418 # Visualization of Vision. Maybe less alliteration would be better.
rlm@215 419 It's vital to have a visual representation for each sense. Here I use
rlm@215 420 =(view-sense)= to construct a function that will create a display for
rlm@215 421 visual data.
rlm@215 422
rlm@216 423 #+name: display
rlm@215 424 #+begin_src clojure
rlm@216 425 (in-ns 'cortex.vision)
rlm@216 426
rlm@189 427 (defn view-vision
rlm@189 428 "Creates a function which accepts a list of visual sensor-data and
rlm@189 429 displays each element of the list to the screen."
rlm@189 430 []
rlm@188 431 (view-sense
rlm@188 432 (fn
rlm@188 433 [[coords sensor-data]]
rlm@188 434 (let [image (points->image coords)]
rlm@188 435 (dorun
rlm@188 436 (for [i (range (count coords))]
rlm@188 437 (.setRGB image ((coords i) 0) ((coords i) 1)
rlm@216 438 (gray (int (* 255 (sensor-data i)))))))
rlm@189 439 image))))
rlm@34 440 #+end_src
rlm@23 441
ocsenave@264 442 * Demonstrations
ocsenave@264 443 ** Demonstrating the vision pipeline.
rlm@23 444
rlm@215 445 This is a basic test for the vision system. It only tests the
ocsenave@264 446 vision-pipeline and does not deal with loading eyes from a blender
rlm@215 447 file. The code creates two videos of the same rotating cube from
rlm@215 448 different angles.
rlm@23 449
rlm@215 450 #+name: test-1
rlm@23 451 #+begin_src clojure
rlm@215 452 (in-ns 'cortex.test.vision)
rlm@23 453
rlm@219 454 (defn test-pipeline
rlm@69 455 "Testing vision:
rlm@69 456 Tests the vision system by creating two views of the same rotating
rlm@69 457 object from different angles and displaying both of those views in
rlm@69 458 JFrames.
rlm@69 459
rlm@69 460 You should see a rotating cube, and two windows,
rlm@69 461 each displaying a different view of the cube."
rlm@36 462 []
rlm@58 463 (let [candy
rlm@58 464 (box 1 1 1 :physical? false :color ColorRGBA/Blue)]
rlm@112 465 (world
rlm@112 466 (doto (Node.)
rlm@112 467 (.attachChild candy))
rlm@112 468 {}
rlm@112 469 (fn [world]
rlm@112 470 (let [cam (.clone (.getCamera world))
rlm@112 471 width (.getWidth cam)
rlm@112 472 height (.getHeight cam)]
rlm@169 473 (add-camera! world cam
rlm@215 474 (comp
rlm@215 475 (view-image
rlm@215 476 (File. "/home/r/proj/cortex/render/vision/1"))
rlm@215 477 BufferedImage!))
rlm@169 478 (add-camera! world
rlm@112 479 (doto (.clone cam)
rlm@112 480 (.setLocation (Vector3f. -10 0 0))
rlm@112 481 (.lookAt Vector3f/ZERO Vector3f/UNIT_Y))
rlm@215 482 (comp
rlm@215 483 (view-image
rlm@215 484 (File. "/home/r/proj/cortex/render/vision/2"))
rlm@215 485 BufferedImage!))
rlm@112 486 ;; This is here to restore the main view
rlm@112 487 ;; after the other views have completed processing
rlm@169 488 (add-camera! world (.getCamera world) no-op)))
rlm@112 489 (fn [world tpf]
rlm@112 490 (.rotate candy (* tpf 0.2) 0 0)))))
rlm@23 491 #+end_src
rlm@23 492
rlm@215 493 #+begin_html
rlm@215 494 <div class="figure">
rlm@215 495 <video controls="controls" width="755">
rlm@215 496 <source src="../video/spinning-cube.ogg" type="video/ogg"
rlm@215 497 preload="none" poster="../images/aurellem-1280x480.png" />
rlm@215 498 </video>
rlm@215 499 <p>A rotating cube viewed from two different perspectives.</p>
rlm@215 500 </div>
rlm@215 501 #+end_html
rlm@215 502
rlm@215 503 Creating multiple eyes like this can be used for stereoscopic vision
rlm@215 504 simulation in a single creature or for simulating multiple creatures,
rlm@215 505 each with their own sense of vision.
ocsenave@264 506 ** Demonstrating eye import and parsing.
rlm@215 507
rlm@218 508 To the worm from the last post, I add a new node that describes its
rlm@215 509 eyes.
rlm@215 510
rlm@215 511 #+attr_html: width=755
rlm@215 512 #+caption: The worm with newly added empty nodes describing a single eye.
rlm@215 513 [[../images/worm-with-eye.png]]
rlm@215 514
rlm@215 515 The node highlighted in yellow is the root level "eyes" node. It has
rlm@218 516 a single child, highlighted in orange, which describes a single
rlm@218 517 eye. This is the "eye" node. It is placed so that the worm will have
rlm@218 518 an eye located in the center of the flat portion of its lower
rlm@218 519 hemispherical section.
rlm@218 520
rlm@218 521 The two nodes which are not highlighted describe the single joint of
rlm@218 522 the worm.
rlm@215 523
rlm@215 524 The metadata of the eye-node is:
rlm@215 525
rlm@215 526 #+begin_src clojure :results verbatim :exports both
rlm@215 527 (cortex.sense/meta-data
rlm@218 528 (.getChild (.getChild (cortex.test.body/worm) "eyes") "eye") "eye")
rlm@215 529 #+end_src
rlm@215 530
rlm@215 531 #+results:
rlm@215 532 : "(let [retina \"Models/test-creature/retina-small.png\"]
rlm@215 533 : {:all retina :red retina :green retina :blue retina})"
rlm@215 534
rlm@215 535 This is the approximation to the human eye described earlier.
rlm@215 536
rlm@216 537 #+name: test-2
rlm@215 538 #+begin_src clojure
rlm@215 539 (in-ns 'cortex.test.vision)
rlm@215 540
rlm@216 541 (defn change-color [obj color]
rlm@216 542 (println-repl obj)
rlm@216 543 (if obj
rlm@216 544 (.setColor (.getMaterial obj) "Color" color)))
rlm@216 545
rlm@216 546 (defn colored-cannon-ball [color]
rlm@216 547 (comp #(change-color % color)
rlm@216 548 (fire-cannon-ball)))
rlm@215 549
rlm@236 550 (defn test-worm-vision [record]
rlm@215 551 (let [the-worm (doto (worm)(body!))
rlm@215 552 vision (vision! the-worm)
rlm@215 553 vision-display (view-vision)
rlm@215 554 fix-display (gen-fix-display)
rlm@215 555 me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
rlm@215 556 x-axis
rlm@215 557 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red
rlm@215 558 :position (Vector3f. 0 -5 0))
rlm@215 559 y-axis
rlm@215 560 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green
rlm@215 561 :position (Vector3f. 0 -5 0))
rlm@215 562 z-axis
rlm@215 563 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue
rlm@216 564 :position (Vector3f. 0 -5 0))
rlm@216 565 timer (RatchetTimer. 60)]
rlm@215 566
rlm@215 567 (world (nodify [(floor) the-worm x-axis y-axis z-axis me])
rlm@216 568 (assoc standard-debug-controls
rlm@216 569 "key-r" (colored-cannon-ball ColorRGBA/Red)
rlm@216 570 "key-b" (colored-cannon-ball ColorRGBA/Blue)
rlm@216 571 "key-g" (colored-cannon-ball ColorRGBA/Green))
rlm@215 572 (fn [world]
rlm@215 573 (light-up-everything world)
rlm@216 574 (speed-up world)
rlm@216 575 (.setTimer world timer)
rlm@216 576 (display-dialated-time world timer)
rlm@215 577 ;; add a view from the worm's perspective
rlm@236 578 (if record
rlm@236 579 (Capture/captureVideo
rlm@236 580 world
rlm@236 581 (File.
rlm@236 582 "/home/r/proj/cortex/render/worm-vision/main-view")))
rlm@236 583
rlm@215 584 (add-camera!
rlm@215 585 world
rlm@215 586 (add-eye! the-worm
rlm@215 587 (.getChild
rlm@215 588 (.getChild the-worm "eyes") "eye"))
rlm@215 589 (comp
rlm@215 590 (view-image
rlm@236 591 (if record
rlm@236 592 (File.
rlm@236 593 "/home/r/proj/cortex/render/worm-vision/worm-view")))
rlm@215 594 BufferedImage!))
rlm@236 595
rlm@236 596 (set-gravity world Vector3f/ZERO))
rlm@216 597
rlm@215 598 (fn [world _ ]
rlm@215 599 (.setLocalTranslation me (.getLocation (.getCamera world)))
rlm@215 600 (vision-display
rlm@215 601 (map #(% world) vision)
rlm@236 602 (if record (File. "/home/r/proj/cortex/render/worm-vision")))
rlm@215 603 (fix-display world)))))
rlm@215 604 #+end_src
rlm@215 605
rlm@218 606 The world consists of the worm and a flat gray floor. I can shoot red,
rlm@218 607 green, blue and white cannonballs at the worm. The worm is initially
rlm@218 608 looking down at the floor, and there is no gravity. My perspective
rlm@218 609 (the Main View), the worm's perspective (Worm View) and the 4 sensor
rlm@218 610 channels that comprise the worm's eye are all saved frame-by-frame to
rlm@218 611 disk.
rlm@218 612
rlm@218 613 * Demonstration of Vision
rlm@218 614 #+begin_html
rlm@218 615 <div class="figure">
rlm@218 616 <video controls="controls" width="755">
rlm@218 617 <source src="../video/worm-vision.ogg" type="video/ogg"
rlm@218 618 preload="none" poster="../images/aurellem-1280x480.png" />
rlm@218 619 </video>
rlm@218 620 <p>Simulated Vision in a Virtual Environment</p>
rlm@218 621 </div>
rlm@218 622 #+end_html
rlm@218 623
rlm@218 624 ** Generate the Worm Video from Frames
rlm@216 625 #+name: magick2
rlm@216 626 #+begin_src clojure
rlm@216 627 (ns cortex.video.magick2
rlm@216 628 (:import java.io.File)
rlm@216 629 (:use clojure.contrib.shell-out))
rlm@216 630
rlm@216 631 (defn images [path]
rlm@216 632 (sort (rest (file-seq (File. path)))))
rlm@216 633
rlm@216 634 (def base "/home/r/proj/cortex/render/worm-vision/")
rlm@216 635
rlm@216 636 (defn pics [file]
rlm@216 637 (images (str base file)))
rlm@216 638
rlm@216 639 (defn combine-images []
rlm@216 640 (let [main-view (pics "main-view")
rlm@216 641 worm-view (pics "worm-view")
rlm@216 642 blue (pics "0")
rlm@216 643 green (pics "1")
rlm@216 644 red (pics "2")
rlm@216 645 gray (pics "3")
rlm@216 646 blender (let [b-pics (pics "blender")]
rlm@216 647 (concat b-pics (repeat 9001 (last b-pics))))
rlm@216 648 background (repeat 9001 (File. (str base "background.png")))
rlm@216 649 targets (map
rlm@216 650 #(File. (str base "out/" (format "%07d.png" %)))
rlm@216 651 (range 0 (count main-view)))]
rlm@216 652 (dorun
rlm@216 653 (pmap
rlm@216 654 (comp
rlm@216 655 (fn [[background main-view worm-view red green blue gray blender target]]
rlm@216 656 (println target)
rlm@216 657 (sh "convert"
rlm@216 658 background
rlm@216 659 main-view "-geometry" "+18+17" "-composite"
rlm@216 660 worm-view "-geometry" "+677+17" "-composite"
rlm@216 661 green "-geometry" "+685+430" "-composite"
rlm@216 662 red "-geometry" "+788+430" "-composite"
rlm@216 663 blue "-geometry" "+894+430" "-composite"
rlm@216 664 gray "-geometry" "+1000+430" "-composite"
rlm@216 665 blender "-geometry" "+0+0" "-composite"
rlm@216 666 target))
rlm@216 667 (fn [& args] (map #(.getCanonicalPath %) args)))
rlm@216 668 background main-view worm-view red green blue gray blender targets))))
rlm@216 669 #+end_src
rlm@216 670
rlm@216 671 #+begin_src sh :results silent
rlm@216 672 cd /home/r/proj/cortex/render/worm-vision
rlm@216 673 ffmpeg -r 25 -b 9001k -i out/%07d.png -vcodec libtheora worm-vision.ogg
rlm@216 674 #+end_src
rlm@236 675
ocsenave@265 676 * Onward!
ocsenave@265 677 - As a neat bonus, this idea behind simulated vision also enables one
ocsenave@265 678 to [[../../cortex/html/capture-video.html][capture live video feeds from jMonkeyEngine]].
ocsenave@265 679 - Now that we have vision, it's time to tackle [[./hearing.org][hearing]].
ocsenave@265 680
ocsenave@265 681
ocsenave@265 682 #+appendix
ocsenave@265 683
rlm@215 684 * Headers
rlm@215 685
rlm@213 686 #+name: vision-header
rlm@213 687 #+begin_src clojure
rlm@213 688 (ns cortex.vision
rlm@213 689 "Simulate the sense of vision in jMonkeyEngine3. Enables multiple
rlm@213 690 eyes from different positions to observe the same world, and pass
rlm@213 691 the observed data to any arbitray function. Automatically reads
rlm@216 692 eye-nodes from specially prepared blender files and instantiates
rlm@213 693 them in the world as actual eyes."
rlm@213 694 {:author "Robert McIntyre"}
rlm@213 695 (:use (cortex world sense util))
rlm@213 696 (:use clojure.contrib.def)
rlm@213 697 (:import com.jme3.post.SceneProcessor)
rlm@237 698 (:import (com.jme3.util BufferUtils Screenshots))
rlm@213 699 (:import java.nio.ByteBuffer)
rlm@213 700 (:import java.awt.image.BufferedImage)
rlm@213 701 (:import (com.jme3.renderer ViewPort Camera))
rlm@216 702 (:import (com.jme3.math ColorRGBA Vector3f Matrix3f))
rlm@213 703 (:import com.jme3.renderer.Renderer)
rlm@213 704 (:import com.jme3.app.Application)
rlm@213 705 (:import com.jme3.texture.FrameBuffer)
rlm@213 706 (:import (com.jme3.scene Node Spatial)))
rlm@213 707 #+end_src
rlm@112 708
rlm@215 709 #+name: test-header
rlm@215 710 #+begin_src clojure
rlm@215 711 (ns cortex.test.vision
rlm@215 712 (:use (cortex world sense util body vision))
rlm@215 713 (:use cortex.test.body)
rlm@215 714 (:import java.awt.image.BufferedImage)
rlm@215 715 (:import javax.swing.JPanel)
rlm@215 716 (:import javax.swing.SwingUtilities)
rlm@215 717 (:import java.awt.Dimension)
rlm@215 718 (:import javax.swing.JFrame)
rlm@215 719 (:import com.jme3.math.ColorRGBA)
rlm@215 720 (:import com.jme3.scene.Node)
rlm@215 721 (:import com.jme3.math.Vector3f)
rlm@216 722 (:import java.io.File)
rlm@216 723 (:import (com.aurellem.capture Capture RatchetTimer)))
rlm@215 724 #+end_src
rlm@216 725 * Source Listing
rlm@216 726 - [[../src/cortex/vision.clj][cortex.vision]]
rlm@216 727 - [[../src/cortex/test/vision.clj][cortex.test.vision]]
rlm@216 728 - [[../src/cortex/video/magick2.clj][cortex.video.magick2]]
rlm@216 729 - [[../assets/Models/subtitles/worm-vision-subtitles.blend][worm-vision-subtitles.blend]]
rlm@216 730 #+html: <ul> <li> <a href="../org/sense.org">This org file</a> </li> </ul>
rlm@216 731 - [[http://hg.bortreb.com ][source-repository]]
rlm@216 732
rlm@35 733
rlm@24 734
rlm@212 735 * COMMENT Generate Source
rlm@34 736 #+begin_src clojure :tangle ../src/cortex/vision.clj
rlm@216 737 <<vision-header>>
rlm@216 738 <<pipeline-1>>
rlm@216 739 <<pipeline-2>>
rlm@216 740 <<retina>>
rlm@216 741 <<add-eye>>
rlm@216 742 <<sensitivity>>
rlm@216 743 <<eye-node>>
rlm@216 744 <<add-camera>>
rlm@216 745 <<kernel>>
rlm@216 746 <<main>>
rlm@216 747 <<display>>
rlm@24 748 #+end_src
rlm@24 749
rlm@68 750 #+begin_src clojure :tangle ../src/cortex/test/vision.clj
rlm@215 751 <<test-header>>
rlm@215 752 <<test-1>>
rlm@216 753 <<test-2>>
rlm@24 754 #+end_src
rlm@216 755
rlm@216 756 #+begin_src clojure :tangle ../src/cortex/video/magick2.clj
rlm@216 757 <<magick2>>
rlm@216 758 #+end_src