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comparison org/vision.org @ 170:1a00b4918529

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removed vision-init-fns requirement; changed names
author Robert McIntyre <rlm@mit.edu>
date Sat, 04 Feb 2012 05:00:10 -0700
parents 94b79c191fc7
children 15bde60217aa
comparison
equal deleted inserted replaced
169:94b79c191fc7 170:1a00b4918529
5 #+keywords: computer vision, jMonkeyEngine3, clojure 5 #+keywords: computer vision, jMonkeyEngine3, clojure
6 #+SETUPFILE: ../../aurellem/org/setup.org 6 #+SETUPFILE: ../../aurellem/org/setup.org
7 #+INCLUDE: ../../aurellem/org/level-0.org 7 #+INCLUDE: ../../aurellem/org/level-0.org
8 #+babel: :mkdirp yes :noweb yes :exports both 8 #+babel: :mkdirp yes :noweb yes :exports both
9 9
10 * Vision 10 * COMMENT Vision
11 11
12 I want to make creatures with eyes. Each eye can be independely moved 12 I want to make creatures with eyes. Each eye can be independely moved
13 and should see its own version of the world depending on where it is. 13 and should see its own version of the world depending on where it is.
14 14
15 Here's how vision will work. 15 Here's how vision will work.
191 camera (add-eye! creature eye) 191 camera (add-eye! creature eye)
192 vision-image 192 vision-image
193 (atom 193 (atom
194 (BufferedImage. (.getWidth camera) 194 (BufferedImage. (.getWidth camera)
195 (.getHeight camera) 195 (.getHeight camera)
196 BufferedImage/TYPE_BYTE_BINARY))] 196 BufferedImage/TYPE_BYTE_BINARY))
197 [(fn [world] 197 register-eye!
198 (add-camera! 198 (runonce
199 world camera 199 (fn [world]
200 (let [counter (atom 0)] 200 (add-camera!
201 (fn [r fb bb bi] 201 world camera
202 (if (zero? (rem (swap! counter inc) (inc skip))) 202 (let [counter (atom 0)]
203 (reset! vision-image (BufferedImage! r fb bb bi))))))) 203 (fn [r fb bb bi]
204 (if (zero? (rem (swap! counter inc) (inc skip)))
205 (reset! vision-image
206 (BufferedImage! r fb bb bi))))))))]
204 (vec 207 (vec
205 (map 208 (map
206 (fn [[key image]] 209 (fn [[key image]]
207 (let [whites (white-coordinates image) 210 (let [whites (white-coordinates image)
208 topology (vec (collapse whites)) 211 topology (vec (collapse whites))
209 mask (presets key)] 212 mask (presets key)]
210 (fn [] 213 (fn [world]
214 (register-eye! world)
211 (vector 215 (vector
212 topology 216 topology
213 (vec 217 (vec
214 (for [[x y] whites] 218 (for [[x y] whites]
215 (bit-and 219 (bit-and
216 mask (.getRGB @vision-image x y)))))))) 220 mask (.getRGB @vision-image x y))))))))
217 retinal-map))])) 221 retinal-map))))
218 222
219 (defn vision 223
224 ;; TODO maybe should add a viewport-manipulation function to
225 ;; automatically change viewport settings, attach shadow filters, etc.
226
227 (defn vision!
228 "Returns a function which returns visual sensory data when called
229 inside a running simulation"
220 [#^Node creature & {skip :skip :or {skip 0}}] 230 [#^Node creature & {skip :skip :or {skip 0}}]
221 (reduce 231 (reduce
222 (fn [[init-a senses-a] 232 concat
223 [init-b senses-b]]
224 [(conj init-a init-b)
225 (into senses-a senses-b)])
226 [[][]]
227 (for [eye (eyes creature)] 233 (for [eye (eyes creature)]
228 (vision-fn creature eye)))) 234 (vision-fn creature eye))))
229 235
230 236
231 #+end_src 237 #+end_src