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comparison org/eyes.org @ 167:9e6a30b8c99a

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renamed some functions in eyes.org
author Robert McIntyre <rlm@mit.edu>
date Sat, 04 Feb 2012 04:07:25 -0700
parents aaacf087504c
children
comparison
equal deleted inserted replaced
166:e4c2cc79a171 167:9e6a30b8c99a
46 the eye marker. The eye marker will contain the metadata for the 46 the eye marker. The eye marker will contain the metadata for the
47 eye, and will be moved by it's bound geometry. The dimensions of 47 eye, and will be moved by it's bound geometry. The dimensions of
48 the eye's camera are equal to the dimensions of the eye's "UV" 48 the eye's camera are equal to the dimensions of the eye's "UV"
49 map. 49 map.
50 50
51
52
53
54
55 #+name: eyes 51 #+name: eyes
56 #+begin_src clojure 52 #+begin_src clojure
57 (ns cortex.vision 53 (ns cortex.vision
58 "Simulate the sense of vision in jMonkeyEngine3. Enables multiple 54 "Simulate the sense of vision in jMonkeyEngine3. Enables multiple
59 eyes from different positions to observe the same world, and pass 55 eyes from different positions to observe the same world, and pass
60 the observed data to any arbitray function." 56 the observed data to any arbitray function."
61 {:author "Robert McIntyre"} 57 {:author "Robert McIntyre"}
62 (:use (cortex world sense util)) 58 (:use (cortex world sense util))
59 (:use clojure.contrib.def)
63 (:import com.jme3.post.SceneProcessor) 60 (:import com.jme3.post.SceneProcessor)
64 (:import (com.jme3.util BufferUtils Screenshots)) 61 (:import (com.jme3.util BufferUtils Screenshots))
65 (:import java.nio.ByteBuffer) 62 (:import java.nio.ByteBuffer)
66 (:import java.awt.image.BufferedImage) 63 (:import java.awt.image.BufferedImage)
67 (:import com.jme3.renderer.ViewPort) 64 (:import com.jme3.renderer.ViewPort)
68 (:import com.jme3.math.ColorRGBA) 65 (:import com.jme3.math.ColorRGBA)
69 (:import com.jme3.renderer.Renderer) 66 (:import com.jme3.renderer.Renderer)
70 (:import jme3tools.converters.ImageToAwt)
71 (:import com.jme3.scene.Node)) 67 (:import com.jme3.scene.Node))
72 68
73 (cortex.import/mega-import-jme3) 69 (cortex.import/mega-import-jme3)
74 70
75 71
122 provided by (vision-pipeline)." 118 provided by (vision-pipeline)."
123 [#^Renderer r #^FrameBuffer fb #^ByteBuffer bb #^BufferedImage bi] 119 [#^Renderer r #^FrameBuffer fb #^ByteBuffer bb #^BufferedImage bi]
124 (byteBuffer->bufferedImage! 120 (byteBuffer->bufferedImage!
125 (frameBuffer->byteBuffer! r fb bb) bi)) 121 (frameBuffer->byteBuffer! r fb bb) bi))
126 122
127 (defn add-eye 123 (defn add-eye!
128 "Add an eye to the world, calling continuation on every frame 124 "Add an eye to the world, calling continuation on every frame
129 produced." 125 produced."
130 [world camera continuation] 126 [#^Application world camera continuation]
131 (let [width (.getWidth camera) 127 (let [width (.getWidth camera)
132 height (.getHeight camera) 128 height (.getHeight camera)
133 render-manager (.getRenderManager world) 129 render-manager (.getRenderManager world)
134 viewport (.createMainView render-manager "eye-view" camera)] 130 viewport (.createMainView render-manager "eye-view" camera)]
135 (doto viewport 131 (doto viewport
146 defined as extracting the red green blue and average components 142 defined as extracting the red green blue and average components
147 respectively." 143 respectively."
148 [#^Spatial eye] 144 [#^Spatial eye]
149 (if-let [eye-map (meta-data eye "eye")] 145 (if-let [eye-map (meta-data eye "eye")]
150 (map-vals 146 (map-vals
151 #(ImageToAwt/convert 147 load-image
152 (.getImage (.loadTexture (asset-manager) %))
153 false false 0)
154 (eval (read-string eye-map))))) 148 (eval (read-string eye-map)))))
155 149
156 (defn eye-dimensions 150 (defn eye-dimensions
157 "returns the width and height specified in the metadata of the eye" 151 "returns the width and height specified in the metadata of the eye"
158 [#^Spatial eye] 152 [#^Spatial eye]
160 (map #(vector (.getWidth %) (.getHeight %)) 154 (map #(vector (.getWidth %) (.getHeight %))
161 (vals (retina-sensor-image eye)))] 155 (vals (retina-sensor-image eye)))]
162 [(apply max (map first dimensions)) 156 [(apply max (map first dimensions))
163 (apply max (map second dimensions))])) 157 (apply max (map second dimensions))]))
164 158
165 (defn creature-eyes 159 (defvar
166 ;;dylan 160 ^{:arglists '([creature])}
167 "Return the children of the creature's \"eyes\" node." 161 eyes
168 ;;"The eye nodes which are children of the \"eyes\" node in the 162 (sense-nodes "eyes")
169 ;;creature." 163 "Return the children of the creature's \"eyes\" node.")
170 [#^Node creature]
171 (if-let [eye-node (.getChild creature "eyes")]
172 (seq (.getChildren eye-node))
173 (do (println-repl "could not find eyes node") [])))
174
175 164
176 (defn attach-eye 165 (defn attach-eye
177 "Attach a Camera to the appropiate area and return the Camera." 166 "Attach a Camera to the appropiate area and return the Camera."
178 [#^Node creature #^Spatial eye] 167 [#^Node creature #^Spatial eye]
179 (let [target (closest-node creature eye) 168 (let [target (closest-node creature eye)
202 (atom 191 (atom
203 (BufferedImage. (.getWidth camera) 192 (BufferedImage. (.getWidth camera)
204 (.getHeight camera) 193 (.getHeight camera)
205 BufferedImage/TYPE_BYTE_BINARY))] 194 BufferedImage/TYPE_BYTE_BINARY))]
206 [(fn [world] 195 [(fn [world]
207 (add-eye 196 (add-eye!
208 world camera 197 world camera
209 (let [counter (atom 0)] 198 (let [counter (atom 0)]
210 (fn [r fb bb bi] 199 (fn [r fb bb bi]
211 (if (zero? (rem (swap! counter inc) (inc skip))) 200 (if (zero? (rem (swap! counter inc) (inc skip)))
212 (reset! vision-image (BufferedImage! r fb bb bi))))))) 201 (reset! vision-image (BufferedImage! r fb bb bi)))))))
231 (fn [[init-a senses-a] 220 (fn [[init-a senses-a]
232 [init-b senses-b]] 221 [init-b senses-b]]
233 [(conj init-a init-b) 222 [(conj init-a init-b)
234 (into senses-a senses-b)]) 223 (into senses-a senses-b)])
235 [[][]] 224 [[][]]
236 (for [eye (creature-eyes creature)] 225 (for [eye (eyes creature)]
237 (enable-vision creature eye)))) 226 (enable-vision creature eye))))
238 227
239 228
240 #+end_src 229 #+end_src
241 230
279 {} 268 {}
280 (fn [world] 269 (fn [world]
281 (let [cam (.clone (.getCamera world)) 270 (let [cam (.clone (.getCamera world))
282 width (.getWidth cam) 271 width (.getWidth cam)
283 height (.getHeight cam)] 272 height (.getHeight cam)]
284 (add-eye world cam 273 (add-eye! world cam
285 ;;no-op 274 ;;no-op
286 (comp (view-image) BufferedImage!) 275 (comp (view-image) BufferedImage!)
287 ) 276 )
288 (add-eye world 277 (add-eye! world
289 (doto (.clone cam) 278 (doto (.clone cam)
290 (.setLocation (Vector3f. -10 0 0)) 279 (.setLocation (Vector3f. -10 0 0))
291 (.lookAt Vector3f/ZERO Vector3f/UNIT_Y)) 280 (.lookAt Vector3f/ZERO Vector3f/UNIT_Y))
292 ;;no-op 281 ;;no-op
293 (comp (view-image) BufferedImage!)) 282 (comp (view-image) BufferedImage!))
294 ;; This is here to restore the main view 283 ;; This is here to restore the main view
295 ;; after the other views have completed processing 284 ;; after the other views have completed processing
296 (add-eye world (.getCamera world) no-op))) 285 (add-eye! world (.getCamera world) no-op)))
297 (fn [world tpf] 286 (fn [world tpf]
298 (.rotate candy (* tpf 0.2) 0 0))))) 287 (.rotate candy (* tpf 0.2) 0 0)))))
299 #+end_src 288 #+end_src
300 289
301 #+results: test-vision 290 #+results: test-vision