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removed outdated code
author Robert McIntyre <rlm@mit.edu>
date Sat, 14 Jan 2012 23:05:52 -0700
parents b7a3ba5e879b
children 128fa71ee188
rev   line source
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
rlm@34 10 * Vision
rlm@23 11
rlm@34 12 I want to make creatures with eyes. Each eye can be independely moved
rlm@34 13 and should see its own version of the world depending on where it is.
rlm@66 14 #+name: eyes
rlm@23 15 #+begin_src clojure
rlm@34 16 (ns cortex.vision
rlm@34 17 "Simulate the sense of vision in jMonkeyEngine3. Enables multiple
rlm@34 18 eyes from different positions to observe the same world, and pass
rlm@34 19 the observed data to any arbitray function."
rlm@34 20 {:author "Robert McIntyre"}
rlm@34 21 (:use cortex.world)
rlm@34 22 (:import com.jme3.post.SceneProcessor)
rlm@34 23 (:import (com.jme3.util Screenshots BufferUtils))
rlm@34 24 (:import java.nio.ByteBuffer)
rlm@34 25 (:import java.awt.image.BufferedImage)
rlm@34 26 (:import com.jme3.renderer.ViewPort)
rlm@34 27 (:import com.jme3.math.ColorRGBA))
rlm@23 28
rlm@23 29 (defn scene-processor
rlm@34 30 "Create a SceneProcessor object which wraps a vision processing
rlm@34 31 continuation function. The SceneProcessor will take care of
rlm@34 32 converting the rendered frame to a BufferedImage and passing that
rlm@34 33 BufferedImage to the continuation. The continuation should be a
rlm@34 34 function that takes a BufferedImage."
rlm@23 35 [continuation]
rlm@23 36 (let [byte-buffer (atom nil)
rlm@23 37 renderer (atom nil)
rlm@23 38 image (atom nil)]
rlm@23 39 (proxy [SceneProcessor] []
rlm@23 40 (initialize
rlm@23 41 [renderManager viewPort]
rlm@23 42 (let [cam (.getCamera viewPort)
rlm@23 43 width (.getWidth cam)
rlm@23 44 height (.getHeight cam)]
rlm@23 45 (reset! renderer (.getRenderer renderManager))
rlm@23 46 (reset! byte-buffer
rlm@23 47 (BufferUtils/createByteBuffer
rlm@23 48 (* width height 4)))
rlm@34 49 (reset! image (BufferedImage.
rlm@34 50 width height
rlm@34 51 BufferedImage/TYPE_4BYTE_ABGR))))
rlm@23 52 (isInitialized [] (not (nil? @byte-buffer)))
rlm@23 53 (reshape [_ _ _])
rlm@23 54 (preFrame [_])
rlm@23 55 (postQueue [_])
rlm@23 56 (postFrame
rlm@23 57 [#^FrameBuffer fb]
rlm@23 58 (.clear @byte-buffer)
rlm@23 59 (.readFrameBuffer @renderer fb @byte-buffer)
rlm@23 60 (Screenshots/convertScreenShot @byte-buffer @image)
rlm@23 61 (continuation @image))
rlm@23 62 (cleanup []))))
rlm@23 63
rlm@23 64 (defn add-eye
rlm@34 65 "Add an eye to the world, calling continuation on every frame
rlm@34 66 produced."
rlm@23 67 [world camera continuation]
rlm@23 68 (let [width (.getWidth camera)
rlm@23 69 height (.getHeight camera)
rlm@23 70 render-manager (.getRenderManager world)
rlm@23 71 viewport (.createMainView render-manager "eye-view" camera)]
rlm@23 72 (doto viewport
rlm@23 73 (.setClearFlags true true true)
rlm@34 74 (.setBackgroundColor ColorRGBA/Gray)
rlm@23 75 (.addProcessor (scene-processor continuation))
rlm@23 76 (.attachScene (.getRootNode world)))))
rlm@34 77 #+end_src
rlm@23 78
rlm@34 79 Note the use of continuation passing style for connecting the eye to a
rlm@34 80 function to process the output. You can create any number of eyes, and
rlm@34 81 each of them will see the world from their own =Camera=. Once every
rlm@34 82 frame, the rendered image is copied to a =BufferedImage=, and that
rlm@34 83 data is sent off to the continuation function. Moving the =Camera=
rlm@34 84 which was used to create the eye will change what the eye sees.
rlm@23 85
rlm@34 86 * Example
rlm@23 87
rlm@66 88 #+name: test-vision
rlm@23 89 #+begin_src clojure
rlm@68 90 (ns cortex.test.vision
rlm@34 91 (:use (cortex world util vision))
rlm@34 92 (:import java.awt.image.BufferedImage)
rlm@34 93 (:import javax.swing.JPanel)
rlm@34 94 (:import javax.swing.SwingUtilities)
rlm@34 95 (:import java.awt.Dimension)
rlm@34 96 (:import javax.swing.JFrame)
rlm@34 97 (:import com.jme3.math.ColorRGBA)
rlm@45 98 (:import com.jme3.scene.Node)
rlm@45 99 (:import com.jme3.math.Vector3f))
rlm@23 100
rlm@34 101 (defn view-image
rlm@99 102 "Initailizes a JPanel on which you may draw a BufferedImage.
rlm@99 103 Returns a function that accepts a BufferedImage and draws it to the
rlm@99 104 JPanel."
rlm@99 105 []
rlm@34 106 (let [image
rlm@34 107 (atom
rlm@99 108 (BufferedImage. 1 1 BufferedImage/TYPE_4BYTE_ABGR))
rlm@34 109 panel
rlm@34 110 (proxy [JPanel] []
rlm@34 111 (paint
rlm@34 112 [graphics]
rlm@34 113 (proxy-super paintComponent graphics)
rlm@99 114 (.drawImage graphics @image 0 0 nil)))
rlm@99 115 frame (JFrame. "Display Image")]
rlm@34 116 (SwingUtilities/invokeLater
rlm@34 117 (fn []
rlm@99 118 (doto frame
rlm@34 119 (-> (.getContentPane) (.add panel))
rlm@34 120 (.pack)
rlm@34 121 (.setLocationRelativeTo nil)
rlm@99 122 (.setResizable true)
rlm@34 123 (.setVisible true))))
rlm@34 124 (fn [#^BufferedImage i]
rlm@34 125 (reset! image i)
rlm@99 126 (.setSize frame (+ 8 (.getWidth i)) (+ 28 (.getHeight i)))
rlm@99 127 (.repaint panel 0 0 (.getWidth i) (.getHeight i)))))
rlm@23 128
rlm@36 129 (defn test-two-eyes
rlm@69 130 "Testing vision:
rlm@69 131 Tests the vision system by creating two views of the same rotating
rlm@69 132 object from different angles and displaying both of those views in
rlm@69 133 JFrames.
rlm@69 134
rlm@69 135 You should see a rotating cube, and two windows,
rlm@69 136 each displaying a different view of the cube."
rlm@36 137 []
rlm@58 138 (let [candy
rlm@58 139 (box 1 1 1 :physical? false :color ColorRGBA/Blue)]
rlm@58 140 (world (doto (Node.)
rlm@58 141 (.attachChild candy))
rlm@58 142 {}
rlm@58 143 (fn [world]
rlm@58 144 (let [cam (.clone (.getCamera world))
rlm@58 145 width (.getWidth cam)
rlm@58 146 height (.getHeight cam)]
rlm@99 147 (add-eye world cam (view-image))
rlm@58 148 (add-eye world
rlm@58 149 (doto (.clone cam)
rlm@58 150 (.setLocation (Vector3f. -10 0 0))
rlm@58 151 (.lookAt Vector3f/ZERO Vector3f/UNIT_Y))
rlm@99 152 (view-image))
rlm@35 153 ;; This is here to restore the main view
rlm@58 154 ;; after the other views have completed processing
rlm@58 155 (add-eye world (.getCamera world) no-op)))
rlm@58 156 (fn [world tpf]
rlm@58 157 (.rotate candy (* tpf 0.2) 0 0)))))
rlm@23 158 #+end_src
rlm@23 159
rlm@34 160 The example code will create two videos of the same rotating object
rlm@34 161 from different angles. It can be used both for stereoscopic vision
rlm@34 162 simulation or for simulating multiple creatures, each with their own
rlm@34 163 sense of vision.
rlm@24 164
rlm@35 165 - As a neat bonus, this idea behind simulated vision also enables one
rlm@35 166 to [[../../cortex/html/capture-video.html][capture live video feeds from jMonkeyEngine]].
rlm@35 167
rlm@24 168
rlm@24 169 * COMMENT code generation
rlm@34 170 #+begin_src clojure :tangle ../src/cortex/vision.clj
rlm@24 171 <<eyes>>
rlm@24 172 #+end_src
rlm@24 173
rlm@68 174 #+begin_src clojure :tangle ../src/cortex/test/vision.clj
rlm@24 175 <<test-vision>>
rlm@24 176 #+end_src