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comparison org/sense-util.org @ 181:0f1c7921d967

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removed blender.org; got rid of magic constant in sense-utils.
author Robert McIntyre <rlm@mit.edu>
date Sat, 04 Feb 2012 07:31:08 -0700
parents 9e6a30b8c99a
children f2552d61e8df
comparison
equal deleted inserted replaced
180:f1b078375484 181:0f1c7921d967
12 (ns cortex.sense) 12 (ns cortex.sense)
13 (cortex.import/mega-import-jme3) 13 (cortex.import/mega-import-jme3)
14 (import ij.process.ImageProcessor) 14 (import ij.process.ImageProcessor)
15 (import java.awt.image.BufferedImage) 15 (import java.awt.image.BufferedImage)
16 (use 'cortex.util) 16 (use 'cortex.util)
17 (use 'cortex.world)
17 (import jme3tools.converters.ImageToAwt) 18 (import jme3tools.converters.ImageToAwt)
18 19
19 (defn meta-data [blender-node key] 20 (defn meta-data
21 "Get the meta-data for a node created with blender."
22 [blender-node key]
20 (if-let [data (.getUserData blender-node "properties")] 23 (if-let [data (.getUserData blender-node "properties")]
21 (.findValue data key) 24 (.findValue data key)
22 nil)) 25 nil))
23 26
24 (defn closest-node 27 (defn closest-node
49 obj 52 obj
50 (proxy [AbstractControl] [] 53 (proxy [AbstractControl] []
51 (controlUpdate [tpf] 54 (controlUpdate [tpf]
52 (let [total-rotation 55 (let [total-rotation
53 (.mult base-anti-rotation (.getWorldRotation obj))] 56 (.mult base-anti-rotation (.getWorldRotation obj))]
54 (.setLocation sense 57 (.setLocation
55 (.add 58 sense
56 (.mult total-rotation sense-offset) 59 (.add
57 (.getWorldTranslation obj))) 60 (.mult total-rotation sense-offset)
58 (.setRotation sense 61 (.getWorldTranslation obj)))
59 (.mult total-rotation initial-sense-rotation)))) 62 (.setRotation
63 sense
64 (.mult total-rotation initial-sense-rotation))))
60 (controlRender [_ _]))))) 65 (controlRender [_ _])))))
61 66
62 (def white -1) 67 (def white 0xFFFFFF)
63 68
69 (defn white? [rgb]
70 (= (bit-and white rgb) white))
71
64 (defn filter-pixels 72 (defn filter-pixels
65 "List the coordinates of all pixels matching pred, within the bounds 73 "List the coordinates of all pixels matching pred, within the bounds
66 provided. Bounds -> [x0 y0 width height]" 74 provided. Bounds -> [x0 y0 width height]"
67 {:author "Dylan Holmes"} 75 {:author "Dylan Holmes"}
68 ([pred #^BufferedImage image] 76 ([pred #^BufferedImage image]
78 x0 y0 []))) 86 x0 y0 [])))
79 87
80 (defn white-coordinates 88 (defn white-coordinates
81 "Coordinates of all the white pixels in a subset of the image." 89 "Coordinates of all the white pixels in a subset of the image."
82 ([#^BufferedImage image bounds] 90 ([#^BufferedImage image bounds]
83 (filter-pixels #(= % white) image bounds)) 91 (filter-pixels white? image bounds))
84 ([#^BufferedImage image] 92 ([#^BufferedImage image]
85 (filter-pixels #(= % white) image))) 93 (filter-pixels white? image)))
86 94
87 (defn points->image 95 (defn points->image
88 "Take a sparse collection of points and visuliaze it as a 96 "Take a sparse collection of points and visuliaze it as a
89 BufferedImage." 97 BufferedImage."
90
91 ;; TODO maybe parallelize this since it's easy
92
93 [points] 98 [points]
94 (if (empty? points) 99 (if (empty? points)
95 (BufferedImage. 1 1 BufferedImage/TYPE_BYTE_BINARY) 100 (BufferedImage. 1 1 BufferedImage/TYPE_BYTE_BINARY)
96 (let [xs (vec (map first points)) 101 (let [xs (vec (map first points))
97 ys (vec (map second points)) 102 ys (vec (map second points))
106 y (range (.getHeight image))] 111 y (range (.getHeight image))]
107 (.setRGB image x y 0xFF0000))) 112 (.setRGB image x y 0xFF0000)))
108 (dorun 113 (dorun
109 (for [index (range (count points))] 114 (for [index (range (count points))]
110 (.setRGB image (- (xs index) x0) (- (ys index) y0) -1))) 115 (.setRGB image (- (xs index) x0) (- (ys index) y0) -1)))
111
112 image))) 116 image)))
113 117
114 (defn average [coll] 118 (defn average [coll]
115 (/ (reduce + coll) (count coll))) 119 (/ (reduce + coll) (count coll)))
116 120
186 "Load an image as a BufferedImage using the asset-manager system." 190 "Load an image as a BufferedImage using the asset-manager system."
187 [asset-relative-path] 191 [asset-relative-path]
188 (ImageToAwt/convert 192 (ImageToAwt/convert
189 (.getImage (.loadTexture (asset-manager) asset-relative-path)) 193 (.getImage (.loadTexture (asset-manager) asset-relative-path))
190 false false 0)) 194 false false 0))
191 195
192 196 (defn jme-to-blender
197 "Convert from JME coordinates to Blender coordinates"
198 [#^Vector3f in]
199 (Vector3f. (.getX in)
200 (- (.getZ in))
201 (.getY in)))
202
203 (defn blender-to-jme
204 "Convert from Blender coordinates to JME coordinates"
205 [#^Vector3f in]
206 (Vector3f. (.getX in)
207 (.getZ in)
208 (- (.getY in))))
193 #+end_src 209 #+end_src
194 210
195 #+results: sense-util 211 #+results: sense-util
196 : #'cortex.sense/meta-data 212 : #'cortex.sense/meta-data
197 213