cortex: org/sense.org comparison

comparison org/sense.org @ 199:305439cec54d

added video to sense.org

author	Robert McIntyre <rlm@mit.edu>
date	Mon, 06 Feb 2012 01:40:22 -0700
parents	fc0bf33bded2
children	7eb966144dad

comparison

equal deleted inserted replaced

-:fc0bf33bded2
+:305439cec54d
 define its own way of turning sense-data into pictures, while the
 actual rendering of said pictures stays in one central place.
 =(points->image)= helps senses generate a base image onto which they
 can overlay actual sense data.
-#+name view-senses
+#+name: view-senses
 #+begin_src clojure
-(defn view-sense
+(in-ns 'cortex.sense)
-"Take a kernel that produces a BufferedImage from some sense data
-and return a function which takes a list of sense data, uses the
-kernel to convert to images, and displays those images, each in
-its own JFrame."
-[sense-display-kernel]
-(let [windows (atom [])]
-(fn [data]
-(if (> (count data) (count @windows))
-(reset!
-windows (map (fn [_] (view-image)) (range (count data)))))
-(dorun
-(map
-(fn [display datum]
-(display (sense-display-kernel datum)))
-@windows data)))))
 (defn points->image
 "Take a collection of points and visuliaze it as a BufferedImage."
 [points]
 (if (empty? points)
 (dorun
 (for [index (range (count points))]
 (.setRGB image (- (xs index) x0) (- (ys index) y0) -1)))
 image)))
+(defn view-image
+"Initailizes a JPanel on which you may draw a BufferedImage.
+Returns a function that accepts a BufferedImage and draws it to the
+JPanel. If given a directory it will save the images as png files
+starting at 0000000.png and incrementing from there."
+([#^File save]
+(let [idx (atom -1)
+image
+(atom
+(BufferedImage. 1 1 BufferedImage/TYPE_4BYTE_ABGR))
+panel
+(proxy [JPanel] []
+(paint
+[graphics]
+(proxy-super paintComponent graphics)
+(.drawImage graphics @image 0 0 nil)))
+frame (JFrame. "Display Image")]
+(SwingUtilities/invokeLater
+(fn []
+(doto frame
+(-> (.getContentPane) (.add panel))
+(.pack)
+(.setLocationRelativeTo nil)
+(.setResizable true)
+(.setVisible true))))
+(fn [#^BufferedImage i]
+(reset! image i)
+(.setSize frame (+ 8 (.getWidth i)) (+ 28 (.getHeight i)))
+(.repaint panel 0 0 (.getWidth i) (.getHeight i))
+(if save
+(ImageIO/write
+i "png"
+(File. save (format "%07d.png" (swap! idx inc))))))))
+([] (view-image nil)))
+(defn view-sense
+"Take a kernel that produces a BufferedImage from some sense data
+and return a function which takes a list of sense data, uses the
+kernel to convert to images, and displays those images, each in
+its own JFrame."
+[sense-display-kernel]
+(let [windows (atom [])]
+(fn [data]
+(if (> (count data) (count @windows))
+(reset!
+windows (map (fn [_] (view-image)) (range (count data)))))
+(dorun
+(map
+(fn [display datum]
+(display (sense-display-kernel datum)))
+@windows data)))))
 (defn gray
 "Create a gray RGB pixel with R, G, and B set to num. num must be
 between 0 and 255."
 [num]
 (+ num
 (.localToWorld object local-coordinate nil))
 #+end_src
 =(bind-sense)= binds either a Camera or a Listener object to any
 object so that they will follow that object no matter how it
-moves. Here is some example code which shows a camera bound to a blue
+moves. It is used to create both eyes and ears.
-box as it is buffeted by white cannonballs.
 #+name: node-2
 #+begin_src clojure
 (defn bind-sense
 "Bind the sense to the Spatial such that it will maintain its
 sense
 (.mult total-rotation initial-sense-rotation))))
 (controlRender [_ _])))))
 #+end_src
+Here is some example code which shows a camera bound to a blue
+box as it is buffeted by white cannonballs.
+#+name: test
+#+begin_src clojure
+(ns cortex.test.sense
+(:use (cortex world util sense vision))
+(:import
+java.io.File
+(com.jme3.math Vector3f ColorRGBA)
+(com.aurellem.capture RatchetTimer Capture)))
+(defn test-bind-sense
+"Show a camera that stays in the same relative position to a blue cube."
+[]
+(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
+(nodify [rock table])
+standard-debug-controls
+(fn [world]
+(let
+[cam (doto (.clone (.getCamera world))
+(.setLocation camera-pos)
+(.lookAt Vector3f/ZERO
+Vector3f/UNIT_X))]
+(bind-sense rock cam)
+(.setTimer world (RatchetTimer. 60))
+(Capture/captureVideo
+world (File. "/home/r/proj/cortex/render/bind-sense0"))
+(add-camera!
+world cam
+(comp (view-image
+(File. "/home/r/proj/cortex/render/bind-sense1"))
+BufferedImage!))
+(add-camera! world (.getCamera world) no-op)))
+no-op)))
+#+end_src
+** Demo Video
+#+begin_html
+<video controls="controls" width="755">
+<source src="../video/bind-sense.ogg" type="video/ogg"
+	  preload="none" poster="../images/aurellem-1280x480.png" />
+</video>
+#+end_html
+note to self: the video was created with the following commands:
+#+begin_src clojure :results silent
+(in-ns 'user)
+(import java.io.File)
+(use 'clojure.contrib.shell-out)
+(let
+[idx (atom -1)
+left (rest
+(sort
+(file-seq (File. "/home/r/proj/cortex/render/bind-sense0/"))))
+right (rest
+(sort
+(file-seq (File. "/home/r/proj/cortex/render/bind-sense1/"))))]
+(dorun
+(map
+(fn [im-1 im-2]
+(println idx)
+(sh "convert" (.getCanonicalPath im-1)
+(.getCanonicalPath im-2) "+append"
+(.getCanonicalPath
+(File. "/home/r/proj/cortex/render/bind-sense/"
+(format "%07d.png" (swap! idx inc))))))
+left right)))
+#+end_src
+#+begin_src sh :results silent
+cd /home/r/proj/cortex/render/
+cp ../images/aurellem-1280x480.png bind-sense/0000000.png
+ffmpeg -r 60 -b 9000k -i bind-sense/%07d.png bind-sense.ogg
+#+end_src
 * Bookkeeping
 Here is the header for this namespace, included for completness.
-#+name header
+#+name: header
 #+begin_src clojure
 (ns cortex.sense
 "Here are functions useful in the construction of two or more
 sensors/effectors."
 {:author "Robert McInytre"}
 (:import java.awt.image.BufferedImage)
 (:import com.jme3.collision.CollisionResults)
 (:import com.jme3.bounding.BoundingBox)
 (:import (com.jme3.scene Node Spatial))
 (:import com.jme3.scene.control.AbstractControl)
-(:import (com.jme3.math Quaternion Vector3f)))
+(:import (com.jme3.math Quaternion Vector3f))
+(:import javax.imageio.ImageIO)
+(:import java.io.File)
+(:import (javax.swing JPanel JFrame SwingUtilities)))
 #+end_src
 * Source Listing
 Full source: [[../src/cortex/sense.clj][sense.clj]]
 <<topology-2>>
 <<node-1>>
 <<node-2>>
 <<view-senses>>
 #+end_src
+#+begin_src clojure :tangle ../src/cortex/test/sense.clj
+<<test>>
+#+end_src

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comparison org/sense.org @ 199:305439cec54d