cortex: org/test-creature.org comparison

comparison org/test-creature.org @ 118:1261444da2c7

got rough vision pipeline working

author	Robert McIntyre <rlm@mit.edu>
date	Sat, 21 Jan 2012 01:08:35 -0700
parents	94c005f7f9dd
children	ebfd62779ab4

comparison

equal deleted inserted replaced

-:94c005f7f9dd
+:1261444da2c7
 x0 (apply min xs)
 y0 (apply min ys)
 width (- (apply max xs) x0)
 height (- (apply max ys) y0)
 image (BufferedImage. (inc width) (inc height)
-BufferedImage/TYPE_BYTE_BINARY)]
+BufferedImage/TYPE_4BYTE_ABGR)]
+(dorun
+(for [x (range (.getWidth image))
+y (range (.getHeight image))]
+(.setRGB image x y 0xFFFF0000)))
 (dorun
 (for [index (range (count points))]
 (.setRGB image (- (xs index) x0) (- (ys index) y0) -1)))
 image)))
 (.setRotation cam
 (.mult total-rotation initial-cam-rotation))))
 (controlRender [_ _])))))
-(defn attach-eyes
+(defn attach-eye
-"For each eye in the creature, attach a Camera to the appropiate
+"Attach a Camera to the appropiate area and return the Camera."
-area and return the Camera."
+[#^Node creature #^Spatial eye]
-[#^Node creature]
-(for [eye (creature-eyes creature)]
+(let [target (eye-target creature eye)
-(let [target (eye-target creature eye)
+[cam-width cam-height] (eye-dimensions eye)
-[cam-width cam-height] (eye-dimensions eye)
+cam (Camera. cam-width cam-height)]
-cam (Camera. cam-width cam-height)]
+(.setLocation cam (.getWorldTranslation eye))
-(.setLocation cam (.getWorldTranslation eye))
+(.setRotation cam (.getWorldRotation eye))
-(.setRotation cam (.getWorldRotation eye))
+(bind-camera target cam)
+cam))
-)
+(def presets
-))
+{:gray identity})
+(defn enable-vision
+"return [init-function sensor-functions] for a particular eye"
+[#^Node creature #^Spatial eye & {skip :skip :or {skip 0}}]
+(let [retinal-map (retina-sensor-image eye)
+vision-image (atom nil)
+camera (attach-eye creature eye)]
+[
+(fn [world]
+(add-eye
+world camera
+(let [counter  (atom 0)]
+(fn [r fb bb bi]
+(if (zero? (rem (swap! counter inc) (inc skip)))
+(reset! vision-image (BufferedImage! r fb bb bi)))))))
+(vector
+(let [whites (white-coordinates (:gray retinal-map))
+topology (vec (collapse whites))]
+(fn []
+(vector
+topology
+(vec
+(for [[x y] whites]
+(.getRGB @vision-image x y)))))))
+]))
 (defn vision
-;; need to create a camera based on uv image,
+;; need to create a camera based on UV image,
 ;; update this camera every frame based on the position of this
 ;; geometry. (maybe can get cam to follow the object)
 ;; use a stack for the continuation to grab the image.
 (.setRGB image ((coords i) 0) ((coords i) 1)
 ({0 -16777216
 1 -1} (sensor-data i)))))
 (vi image)))))
+(defn debug-vision-window
+"creates function that offers a debug view of sensor data"
+[]
+(let [vi (view-image)]
+(fn
+[[coords sensor-data]]
+(let [image (points->image coords)]
+(dorun
+(for [i (range (count coords))]
+(.setRGB image ((coords i) 0) ((coords i) 1)
+(sensor-data i))))
+(vi image)))))
 ;;(defn test-touch [world creature]
 (defn test-creature [thing]
 z-axis
 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)
 creature (blender-creature thing)
 touch-nerves (touch creature)
 touch-debug-windows (map (fn [_] (debug-window)) touch-nerves)
+[init-vision [vision-data]]
+(enable-vision creature (test-eye))
+vision-debug (debug-vision-window)
+me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
 ]
 (world
 (nodify [creature
 (box 10 2 10 :position (Vector3f. 0 -9 0)
 :color ColorRGBA/Gray :mass 0)
 x-axis y-axis z-axis
+me
 ])
 standard-debug-controls
 (fn [world]
 (light-up-everything world)
 (enable-debug world)
+(init-vision world)
+(add-eye world
+(attach-eye creature (test-eye))
+(comp (view-image) BufferedImage!))
+(add-eye world (.getCamera world) no-op)
 ;;(com.aurellem.capture.Capture/captureVideo
 ;; world (file-str "/home/r/proj/ai-videos/hand"))
 ;;(.setTimer world (RatchetTimer. 60))
 ;;(speed-up world)
 ;;(set-gravity world (Vector3f. 0 0 0))
 (dorun
 (map #(%1 (%2 (.getRootNode world)))
 touch-debug-windows touch-nerves)
 )
+;;(println-repl (vision-data))
+(.setLocalTranslation me (.getLocation (.getCamera world)))
+(vision-debug (vision-data))
 )
 ;;(let [timer (atom 0)]
 ;;  (fn [_ _]
 ;;    (swap! timer inc)
 ;;    (if (= (rem @timer 60) 0)
 (let [camera-pos (Vector3f. 0 30 0)
 rock (box 1 1 1 :color ColorRGBA/Blue
 :position (Vector3f. 0 10 0)
 :mass 30
 )
+rot (.getWorldRotation rock)
 table (box 3 1 10 :color ColorRGBA/Gray :mass 0
 :position (Vector3f. 0 -3 0))]
 (world
 (.setTimer world (RatchetTimer. 60))
 (add-eye world cam (comp (view-image) BufferedImage!))
 (add-eye world (.getCamera world) no-op))
 )
-no-op)))
+(fn [_ _] (println-repl rot)))))
 #+end_src
 #+results: body-1
 : #'cortex.silly/test-creature

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comparison org/test-creature.org @ 118:1261444da2c7