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comparison org/eyes.org @ 113:a980462ebe76

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more lazy/functional version of eyes
author Robert McIntyre <rlm@mit.edu>
date Thu, 19 Jan 2012 22:08:46 -0700
parents 128fa71ee188
children 9d0fe7f54e14
comparison
equal deleted inserted replaced
112:128fa71ee188 113:a980462ebe76
18 eyes from different positions to observe the same world, and pass 18 eyes from different positions to observe the same world, and pass
19 the observed data to any arbitray function." 19 the observed data to any arbitray function."
20 {:author "Robert McIntyre"} 20 {:author "Robert McIntyre"}
21 (:use cortex.world) 21 (:use cortex.world)
22 (:import com.jme3.post.SceneProcessor) 22 (:import com.jme3.post.SceneProcessor)
23 (:import (com.jme3.util BufferUtils)) 23 (:import (com.jme3.util BufferUtils Screenshots))
24 (:import java.nio.ByteBuffer) 24 (:import java.nio.ByteBuffer)
25 (:import java.awt.image.BufferedImage) 25 (:import java.awt.image.BufferedImage)
26 (:import com.jme3.renderer.ViewPort) 26 (:import com.jme3.renderer.ViewPort)
27 (:import com.jme3.math.ColorRGBA)) 27 (:import com.jme3.math.ColorRGBA)
28 28 (:import com.jme3.renderer.Renderer))
29 (defn scene-processor 29
30
31 (defn vision-pipeline
30 "Create a SceneProcessor object which wraps a vision processing 32 "Create a SceneProcessor object which wraps a vision processing
31 continuation function. The SceneProcessor will take care of 33 continuation function. The continuation is a function that takes
32 converting the rendered frame to a BufferedImage and passing that 34 [#^Renderer r #^FrameBuffer fb #^ByteBuffer b #^BufferedImage bi],
33 BufferedImage to the continuation. The continuation should be a 35 each of which has already been appropiately sized."
34 function that takes a ByteBuffer which represents the image."
35 [continuation] 36 [continuation]
36 (let [byte-buffer (atom nil) 37 (let [byte-buffer (atom nil)
37 renderer (atom nil)] 38 renderer (atom nil)
39 image (atom nil)]
38 (proxy [SceneProcessor] [] 40 (proxy [SceneProcessor] []
39 (initialize 41 (initialize
40 [renderManager viewPort] 42 [renderManager viewPort]
41 (let [cam (.getCamera viewPort) 43 (let [cam (.getCamera viewPort)
42 width (.getWidth cam) 44 width (.getWidth cam)
43 height (.getHeight cam)] 45 height (.getHeight cam)]
44 (reset! renderer (.getRenderer renderManager)) 46 (reset! renderer (.getRenderer renderManager))
45 (reset! byte-buffer 47 (reset! byte-buffer
46 (BufferUtils/createByteBuffer 48 (BufferUtils/createByteBuffer
47 (* width height 4))))) 49 (* width height 4)))
50 (reset! image (BufferedImage.
51 width height
52 BufferedImage/TYPE_4BYTE_ABGR))))
48 (isInitialized [] (not (nil? @byte-buffer))) 53 (isInitialized [] (not (nil? @byte-buffer)))
49 (reshape [_ _ _]) 54 (reshape [_ _ _])
50 (preFrame [_]) 55 (preFrame [_])
51 (postQueue [_]) 56 (postQueue [_])
52 (postFrame 57 (postFrame
53 [#^FrameBuffer fb] 58 [#^FrameBuffer fb]
54 (.clear @byte-buffer) 59 (.clear @byte-buffer)
55 ;;(.readFrameBuffer @renderer fb @byte-buffer) 60 (continuation @renderer fb @byte-buffer @image))
56 (continuation @byte-buffer))
57 (cleanup [])))) 61 (cleanup []))))
58 62
59 (defn buffer->image! [width height] 63 (defn frameBuffer->byteBuffer!
60 (let [image (BufferedImage. width height 64 "Transfer the data in the graphics card (Renderer, FrameBuffer) to
61 BufferedImage/TYPE_4BYTE_ABGR)] 65 the CPU (ByteBuffer)."
62 (fn [byte-buffer] 66 [#^Renderer r #^FrameBuffer fb #^ByteBuffer bb]
63 (Screenshots/convertScreenShot byte-buffer image) 67 (.readFrameBuffer r fb bb) bb)
64 image))) 68
69 (defn byteBuffer->bufferedImage!
70 "Convert the C-style BGRA image data in the ByteBuffer bb to the AWT
71 style ABGR image data and place it in BufferedImage bi."
72 [#^ByteBuffer bb #^BufferedImage bi]
73 (Screenshots/convertScreenShot bb bi) bi)
74
75 (defn BufferedImage!
76 "Continuation which will grab the buffered image from the materials
77 provided by (vision-pipeline)."
78 [#^Renderer r #^FrameBuffer fb #^ByteBuffer bb #^BufferedImage bi]
79 (byteBuffer->bufferedImage!
80 (frameBuffer->byteBuffer! r fb bb) bi))
65 81
66 (defn add-eye 82 (defn add-eye
67 "Add an eye to the world, calling continuation on every frame 83 "Add an eye to the world, calling continuation on every frame
68 produced." 84 produced."
69 [world camera continuation] 85 [world camera continuation]
72 render-manager (.getRenderManager world) 88 render-manager (.getRenderManager world)
73 viewport (.createMainView render-manager "eye-view" camera)] 89 viewport (.createMainView render-manager "eye-view" camera)]
74 (doto viewport 90 (doto viewport
75 (.setClearFlags true true true) 91 (.setClearFlags true true true)
76 (.setBackgroundColor ColorRGBA/Black) 92 (.setBackgroundColor ColorRGBA/Black)
77 (.addProcessor (scene-processor continuation)) 93 (.addProcessor (vision-pipeline continuation))
78 (.attachScene (.getRootNode world))))) 94 (.attachScene (.getRootNode world)))))
79 #+end_src 95 #+end_src
80 96
81 #+results: eyes 97 #+results: eyes
82 : #'cortex.vision/add-eye 98 : #'cortex.vision/add-eye
99 (:import javax.swing.SwingUtilities) 115 (:import javax.swing.SwingUtilities)
100 (:import java.awt.Dimension) 116 (:import java.awt.Dimension)
101 (:import javax.swing.JFrame) 117 (:import javax.swing.JFrame)
102 (:import com.jme3.math.ColorRGBA) 118 (:import com.jme3.math.ColorRGBA)
103 (:import com.jme3.scene.Node) 119 (:import com.jme3.scene.Node)
104 (:import com.jme3.math.Vector3f) 120 (:import com.jme3.math.Vector3f))
105 (:import (com.jme3.util Screenshots)))
106 121
107 (defn view-image 122 (defn view-image
108 "Initailizes a JPanel on which you may draw a BufferedImage. 123 "Initailizes a JPanel on which you may draw a BufferedImage.
109 Returns a function that accepts a BufferedImage and draws it to the 124 Returns a function that accepts a BufferedImage and draws it to the
110 JPanel." 125 JPanel."
150 (fn [world] 165 (fn [world]
151 (let [cam (.clone (.getCamera world)) 166 (let [cam (.clone (.getCamera world))
152 width (.getWidth cam) 167 width (.getWidth cam)
153 height (.getHeight cam)] 168 height (.getHeight cam)]
154 (add-eye world cam 169 (add-eye world cam
155 no-op 170 ;;no-op
156 ;;(comp (view-image) (buffer->image! width height)) 171 (comp (view-image) BufferedImage!)
157 ) 172 )
158 (add-eye world 173 (add-eye world
159 (doto (.clone cam) 174 (doto (.clone cam)
160 (.setLocation (Vector3f. -10 0 0)) 175 (.setLocation (Vector3f. -10 0 0))
161 (.lookAt Vector3f/ZERO Vector3f/UNIT_Y)) 176 (.lookAt Vector3f/ZERO Vector3f/UNIT_Y))
162 no-op 177 ;;no-op
163 ;;(comp (view-image) (buffer->image! width height)) 178 (comp (view-image) BufferedImage!))
164 )
165
166
167 ;; This is here to restore the main view 179 ;; This is here to restore the main view
168 ;; after the other views have completed processing 180 ;; after the other views have completed processing
169 (add-eye world (.getCamera world) no-op))) 181 (add-eye world (.getCamera world) no-op)))
170 (fn [world tpf] 182 (fn [world tpf]
171 (.rotate candy (* tpf 0.2) 0 0))))) 183 (.rotate candy (* tpf 0.2) 0 0)))))