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annotate org/sense-util.org @ 151:aaacf087504c

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refactored vision code
author Robert McIntyre <rlm@mit.edu>
date Fri, 03 Feb 2012 05:52:18 -0700
parents
children e8df6e76c3e5
rev   line source
rlm@151 1 #+title: General sense/effector utilities
rlm@151 2 #+author: Robert McIntyre
rlm@151 3 #+email: rlm@mit.edu
rlm@151 4 #+description: sensory utilities
rlm@151 5 #+keywords: simulation, jMonkeyEngine3, clojure, simulated senses
rlm@151 6 #+SETUPFILE: ../../aurellem/org/setup.org
rlm@151 7 #+INCLUDE: ../../aurellem/org/level-0.org
rlm@151 8
rlm@151 9
rlm@151 10 #+name: sense-util
rlm@151 11 #+begin_src clojure
rlm@151 12 (ns cortex.sense)
rlm@151 13 (cortex.import/mega-import-jme3)
rlm@151 14 (import ij.process.ImageProcessor)
rlm@151 15 (import java.awt.image.BufferedImage)
rlm@151 16
rlm@151 17
rlm@151 18 (defn meta-data [blender-node key]
rlm@151 19 (if-let [data (.getUserData blender-node "properties")]
rlm@151 20 (.findValue data key)
rlm@151 21 nil))
rlm@151 22
rlm@151 23 (defn closest-node
rlm@151 24 "Return the object in creature which is closest to the given node."
rlm@151 25 ;;dylan"The closest object in creature to the given node."
rlm@151 26 [#^Node creature #^Node eye]
rlm@151 27 (loop [radius (float 0.01)]
rlm@151 28 (let [results (CollisionResults.)]
rlm@151 29 (.collideWith
rlm@151 30 creature
rlm@151 31 (BoundingBox. (.getWorldTranslation eye)
rlm@151 32 radius radius radius)
rlm@151 33 results)
rlm@151 34 (if-let [target (first results)]
rlm@151 35 (.getGeometry target)
rlm@151 36 (recur (float (* 2 radius)))))))
rlm@151 37
rlm@151 38 (defn bind-sense
rlm@151 39 "Bind the sense to the Spatial such that it will maintain its
rlm@151 40 current position relative to the Spatial no matter how the spatial
rlm@151 41 moves. 'sense can be either a Camera or Listener object."
rlm@151 42 [#^Spatial obj sense]
rlm@151 43 (let [sense-offset (.subtract (.getLocation sense)
rlm@151 44 (.getWorldTranslation obj))
rlm@151 45 initial-sense-rotation (Quaternion. (.getRotation sense))
rlm@151 46 base-anti-rotation (.inverse (.getWorldRotation obj))]
rlm@151 47 (.addControl
rlm@151 48 obj
rlm@151 49 (proxy [AbstractControl] []
rlm@151 50 (controlUpdate [tpf]
rlm@151 51 (let [total-rotation
rlm@151 52 (.mult base-anti-rotation (.getWorldRotation obj))]
rlm@151 53 (.setLocation sense
rlm@151 54 (.add
rlm@151 55 (.mult total-rotation sense-offset)
rlm@151 56 (.getWorldTranslation obj)))
rlm@151 57 (.setRotation sense
rlm@151 58 (.mult total-rotation initial-sense-rotation))))
rlm@151 59 (controlRender [_ _])))))
rlm@151 60
rlm@151 61 (def white -1)
rlm@151 62
rlm@151 63 (defn filter-pixels
rlm@151 64 "List the coordinates of all pixels matching pred, within the bounds
rlm@151 65 provided. Bounds -> [x0 y0 width height]"
rlm@151 66 {:author "Dylan Holmes"}
rlm@151 67 ([pred #^BufferedImage image]
rlm@151 68 (filter-pixels pred image [0 0 (.getWidth image) (.getHeight image)]))
rlm@151 69 ([pred #^BufferedImage image [x0 y0 width height]]
rlm@151 70 ((fn accumulate [x y matches]
rlm@151 71 (cond
rlm@151 72 (>= y (+ height y0)) matches
rlm@151 73 (>= x (+ width x0)) (recur 0 (inc y) matches)
rlm@151 74 (pred (.getRGB image x y))
rlm@151 75 (recur (inc x) y (conj matches [x y]))
rlm@151 76 :else (recur (inc x) y matches)))
rlm@151 77 x0 y0 [])))
rlm@151 78
rlm@151 79 (defn white-coordinates
rlm@151 80 "Coordinates of all the white pixels in a subset of the image."
rlm@151 81 ([#^BufferedImage image bounds]
rlm@151 82 (filter-pixels #(= % white) image bounds))
rlm@151 83 ([#^BufferedImage image]
rlm@151 84 (filter-pixels #(= % white) image)))
rlm@151 85
rlm@151 86 (defn points->image
rlm@151 87 "Take a sparse collection of points and visuliaze it as a
rlm@151 88 BufferedImage."
rlm@151 89
rlm@151 90 ;; TODO maybe parallelize this since it's easy
rlm@151 91
rlm@151 92 [points]
rlm@151 93 (if (empty? points)
rlm@151 94 (BufferedImage. 1 1 BufferedImage/TYPE_BYTE_BINARY)
rlm@151 95 (let [xs (vec (map first points))
rlm@151 96 ys (vec (map second points))
rlm@151 97 x0 (apply min xs)
rlm@151 98 y0 (apply min ys)
rlm@151 99 width (- (apply max xs) x0)
rlm@151 100 height (- (apply max ys) y0)
rlm@151 101 image (BufferedImage. (inc width) (inc height)
rlm@151 102 BufferedImage/TYPE_INT_RGB)]
rlm@151 103 (dorun
rlm@151 104 (for [x (range (.getWidth image))
rlm@151 105 y (range (.getHeight image))]
rlm@151 106 (.setRGB image x y 0xFF0000)))
rlm@151 107 (dorun
rlm@151 108 (for [index (range (count points))]
rlm@151 109 (.setRGB image (- (xs index) x0) (- (ys index) y0) -1)))
rlm@151 110
rlm@151 111 image)))
rlm@151 112
rlm@151 113 (defn average [coll]
rlm@151 114 (/ (reduce + coll) (count coll)))
rlm@151 115
rlm@151 116 (defn collapse-1d
rlm@151 117 "One dimensional analogue of collapse"
rlm@151 118 [center line]
rlm@151 119 (let [length (count line)
rlm@151 120 num-above (count (filter (partial < center) line))
rlm@151 121 num-below (- length num-above)]
rlm@151 122 (range (- center num-below)
rlm@151 123 (+ center num-above))))
rlm@151 124
rlm@151 125 (defn collapse
rlm@151 126 "Take a set of pairs of integers and collapse them into a
rlm@151 127 contigous bitmap."
rlm@151 128 [points]
rlm@151 129 (if (empty? points) []
rlm@151 130 (let
rlm@151 131 [num-points (count points)
rlm@151 132 center (vector
rlm@151 133 (int (average (map first points)))
rlm@151 134 (int (average (map first points))))
rlm@151 135 flattened
rlm@151 136 (reduce
rlm@151 137 concat
rlm@151 138 (map
rlm@151 139 (fn [column]
rlm@151 140 (map vector
rlm@151 141 (map first column)
rlm@151 142 (collapse-1d (second center)
rlm@151 143 (map second column))))
rlm@151 144 (partition-by first (sort-by first points))))
rlm@151 145 squeezed
rlm@151 146 (reduce
rlm@151 147 concat
rlm@151 148 (map
rlm@151 149 (fn [row]
rlm@151 150 (map vector
rlm@151 151 (collapse-1d (first center)
rlm@151 152 (map first row))
rlm@151 153 (map second row)))
rlm@151 154 (partition-by second (sort-by second flattened))))
rlm@151 155 relocate
rlm@151 156 (let [min-x (apply min (map first squeezed))
rlm@151 157 min-y (apply min (map second squeezed))]
rlm@151 158 (map (fn [[x y]]
rlm@151 159 [(- x min-x)
rlm@151 160 (- y min-y)])
rlm@151 161 squeezed))]
rlm@151 162 relocate)))
rlm@151 163
rlm@151 164 #+end_src
rlm@151 165
rlm@151 166 #+results: sense-util
rlm@151 167 : #'cortex.sense/meta-data
rlm@151 168
rlm@151 169
rlm@151 170
rlm@151 171 * COMMENT generate source
rlm@151 172 #+begin_src clojure :tangle ../src/cortex/sense.clj
rlm@151 173 <<sense-util>>
rlm@151 174 #+end_src