cortex: org/test-creature.org comparison

comparison org/test-creature.org @ 94:69174ed0f9f6

Working sensor coordinate code. Dylan helped!

author	Robert McIntyre <rlm@mit.edu>
date	Tue, 10 Jan 2012 08:38:04 -0700
parents	7b739503836a
children	e4bcd0c481ba

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-:7b739503836a
+:69174ed0f9f6
 (extend-type ImagePlus
 Frame
 (frame [image+]
 (frame (.getBufferedImage image+))))
 (def white -1)
 (defn filter-pixels
 "List the coordinates of all pixels matching pred."
 {:author "Dylan Holmes"}
 [pred #^ImageProcessor ip]
 (let
 0
 (.dot
 (.cross (.subtract p2 p1) (.subtract p p1))
 (.cross (.subtract p2 p1) (.subtract ref p1)))))
+(defn triangle->matrix4f
+"Converts the triangle into a 4x4 matrix of vertices: The first
+three columns contain the vertices of the triangle; the last
+contains the unit normal of the triangle. The bottom row is filled
+with 1s."
+[#^Triangle t]
+(let [mat (Matrix4f.)
+[vert-1 vert-2 vert-3]
+((comp vec map) #(.get t %) (range 3))
+unit-normal (do (.calculateNormal t)(.getNormal t))
+vertices [vert-1 vert-2 vert-3 unit-normal]]
+(dorun
+(for [row (range 4) col (range 3)]
+(do
+(.set mat col row (.get (vertices row)col))
+(.set mat 3 row 1))))
+mat))
+(defn triangle-transformation
+"Returns the affine transformation that converts each vertex in the
+first triangle into the corresponding vertex in the second
+triangle."
+[#^Triangle tri-1 #^Triangle tri-2]
+(.mult
+(triangle->matrix4f tri-2)
+(.invert (triangle->matrix4f tri-1))))
+(def death (Triangle.
+(Vector3f. 1 1 1)
+(Vector3f. 1 2 3)
+(Vector3f. 5 6 7)))
+(def death-2 (Triangle.
+(Vector3f. 2 2 2)
+(Vector3f. 1 1 1)
+(Vector3f. 0 1 0)))
+(defn vector2f->vector3f [v]
+(Vector3f. (.getX v) (.getY v) 0))
+(extend-type Triangle
+Textual
+(text [t]
+(println "Triangle: " \newline (.get1 t) \newline
+(.get2 t) \newline (.get3 t))))
+(defn map-triangle [f #^Triangle tri]
+(Triangle.
+(f 0 (.get1 tri))
+(f 1 (.get2 tri))
+(f 2 (.get3 tri))))
+(defn triangle-seq [#^Triangle tri]
+[(.get1 tri) (.get2 tri) (.get3 tri)])
+(defn vector3f-seq [#^Vector3f v]
+[(.getX v) (.getY v) (.getZ v)])
 (defn inside-triangle?
-[vert-1 vert-2 vert-3 p]
+"Is the point inside the triangle? Now what do we do?
-(and
+You might want to hold on there"
-(same-side? vert-1 vert-2 vert-3 p)
+{:author "God"}
-(same-side? vert-2 vert-3 vert-1 p)
+[tri p]
-(same-side? vert-3 vert-1 vert-2 p)))
+(let [[vert-1 vert-2 vert-3] (triangle-seq tri)]
+(and
+(same-side? vert-1 vert-2 vert-3 p)
-(defn analyze-triangle [#^Geometry obj #^Triangle tri]
+(same-side? vert-2 vert-3 vert-1 p)
-;; first, calculate the transformation matrix that will take us
+(same-side? vert-3 vert-1 vert-2 p))))
-;; from uv-coordinates to the real world coordinates
-(let [mesh (.getMesh obj)
+(defn uv-triangle
-world [(.get1 tri) (.get2 tri) (.get3 tri)]
+"Convert the mesh triangle into the cooresponding triangle in
-uv    (tri-uv-coord mesh tri)
+UV-space. Z-component of these triangles is always zero."
+[#^Mesh mesh #^Triangle tri]
+(apply #(Triangle. %1 %2 %3)
+(map vector2f->vector3f
+(tri-uv-coord mesh tri))))
-(println-repl world uv)))
+(defn pixel-triangle
+"Convert the mesh triange into the corresponding triangle in
+UV-pixel-space. Z compenent will be zero."
+[#^Mesh mesh #^Triangle tri width height]
+(map-triangle (fn [_ v]
+(Vector3f. (* width (.getX v))
+(* height (.getY v))
+0))
+(uv-triangle mesh tri)))
+(defn triangle-bounds
+"Dimensions of the bounding square of the triangle in the form
+[x y width height].
+Assumes that the triangle lies in the XY plane."
+[#^Triangle tri]
+(let [verts (map vector3f-seq (triangle-seq tri))
+x (apply min (map first verts))
+y (apply min (map second verts))]
+[x y
+(- (apply max (map first verts)) x)
+(- (apply max (map second verts)) y)
+]))
+(defn locate-tactile-sensors
+"Search the geometry's tactile UV image for touch sensors, returning
+their positions in geometry-relative coordinates."
-(defn tactile-coords*
+[#^Geometry geo]
-[#^Geometry obj]
-(let
+;; inside-triangle? white-coordinates triangle-transformation
-[tris (triangles obj)
+;; tri-uv-coord touch-receptor-image
-mesh (.getMesh obj)
+(let [mesh (.getMesh geo)
+image (touch-receptor-image geo)
+width (.getWidth image)
-)
+height (.getHeight image)
+tris (triangles geo)
+;; for each triangle
+sensor-coords
+(fn [tri]
+;; translate triangle to uv-pixel-space
+(let [uv-tri
+(pixel-triangle mesh tri width height)
+bounds (vec (triangle-bounds uv-tri))]
+;; get that part of the picture
+(apply #(.setRoi image %1 %2 %3 %4) bounds)
+(let [cutout (.crop (.getProcessor image))
+;; extract white pixels inside triangle
+cutout-tri
+(map-triangle
+(fn [_ v]
+(.subtract
+v
+(Vector3f. (bounds 0) (bounds 1) (float 0))))
+uv-tri)
+whites (filter (partial inside-triangle? cutout-tri)
+(map vector2f->vector3f
+(white-coordinates cutout)))
+;; translate pixel coordinates to world-space
+transform (triangle-transformation cutout-tri tri)]
+(map #(.mult transform %) whites))))]
+(map sensor-coords tris)))
 ;; for each triangle in the mesh,
 ;; get the normal to the triangle,
 (* height (.getY uv-2)))
 image-3 (Vector2f. (* width (.getX uv-3))
 (* height (.getY uv-3)))
 left-corner
 (Vector2f. min-x min-y)
 ]
 (.setRoi receptors min-x min-y (- max-x min-x) (- max-y min-y))
 (let [processor  (.crop (.getProcessor receptors))]
 (map
 * COMMENT generate source
 #+begin_src clojure :tangle ../src/cortex/silly.clj
 <<body-1>>
 #+end_src
+(defn transform-trianglesdsd
+"Transform that converts each vertex in the first triangle
+into the corresponding vertex in the second triangle."
+[#^Triangle tri-1 #^Triangle tri-2]
+(let [in  [(.get1 tri-1)
+(.get2 tri-1)
+(.get3 tri-1)]
+out [(.get1 tri-2)
+(.get2 tri-2)
+(.get3 tri-2)]]
+(let [translate (doto (Matrix4f.) (.setTranslation (.negate (in 0))))
+in* [(.mult translate (in 0))
+(.mult translate (in 1))
+(.mult translate (in 2))]
+final-translation
+(doto (Matrix4f.)
+(.setTranslation (out 1)))
+rotate-1
+(doto (Matrix3f.)
+(.fromStartEndVectors
+(.normalize
+(.subtract
+(in* 1) (in* 0)))
+(.normalize
+(.subtract
+(out 1) (out 0)))))
+in** [(.mult rotate-1 (in* 0))
+(.mult rotate-1 (in* 1))
+(.mult rotate-1 (in* 2))]
+scale-factor-1
+(.mult
+(.normalize
+(.subtract
+(out 1)
+(out 0)))
+(/ (.length
+(.subtract (out 1)
+(out 0)))
+(.length
+(.subtract (in** 1)
+(in** 0)))))
+scale-1 (doto (Matrix4f.) (.setScale scale-factor-1))
+in*** [(.mult scale-1 (in** 0))
+(.mult scale-1 (in** 1))
+(.mult scale-1 (in** 2))]
+]
+(dorun (map println in))
+(println)
+(dorun (map println in*))
+(println)
+(dorun (map println in**))
+(println)
+(dorun (map println in***))
+(println)
+)))
+)

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comparison org/test-creature.org @ 94:69174ed0f9f6