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comparison org/vision.org @ 270:aa3641042958

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minor formatting changes.
author Robert McIntyre <rlm@mit.edu>
date Tue, 14 Feb 2012 05:30:55 -0700
parents e57d8c52f12f
children 12e6231eae8e c39b8b29a79e
comparison
equal deleted inserted replaced
268:6446e964810f 270:aa3641042958
11 # parentheses. e.g. =add-eye!=, not =(add-eye!)=. The reason for this 11 # parentheses. e.g. =add-eye!=, not =(add-eye!)=. The reason for this
12 # is that it is potentially easy to confuse the /function/ =f= with its 12 # is that it is potentially easy to confuse the /function/ =f= with its
13 # /value/ at a particular point =(f x)=. Mathematicians have this 13 # /value/ at a particular point =(f x)=. Mathematicians have this
14 # problem with their notation; we don't need it in ours. 14 # problem with their notation; we don't need it in ours.
15 15
16 #* Vision
17 * JMonkeyEngine natively supports multiple views of the same world. 16 * JMonkeyEngine natively supports multiple views of the same world.
18 17
19 Vision is one of the most important senses for humans, so I need to 18 Vision is one of the most important senses for humans, so I need to
20 build a simulated sense of vision for my AI. I will do this with 19 build a simulated sense of vision for my AI. I will do this with
21 simulated eyes. Each eye can be independely moved and should see its 20 simulated eyes. Each eye can be independely moved and should see its
136 entirely in terms of =BufferedImage= inputs. Just compose that 135 entirely in terms of =BufferedImage= inputs. Just compose that
137 =BufferedImage= algorithm with =(BufferedImage!)=. However, a vision 136 =BufferedImage= algorithm with =(BufferedImage!)=. However, a vision
138 processing algorithm that is entirely hosted on the GPU does not have 137 processing algorithm that is entirely hosted on the GPU does not have
139 to pay for this convienence. 138 to pay for this convienence.
140 139
141 * COMMENT asdasd
142
143 (vision creature) will take an optional :skip argument which will
144 inform the continuations in scene processor to skip the given
145 number of cycles 0 means that no cycles will be skipped.
146
147 (vision creature) will return [init-functions sensor-functions].
148 The init-functions are each single-arg functions that take the
149 world and register the cameras and must each be called before the
150 corresponding sensor-functions. Each init-function returns the
151 viewport for that eye which can be manipulated, saved, etc. Each
152 sensor-function is a thunk and will return data in the same
153 format as the tactile-sensor functions the structure is
154 [topology, sensor-data]. Internally, these sensor-functions
155 maintain a reference to sensor-data which is periodically updated
156 by the continuation function established by its init-function.
157 They can be queried every cycle, but their information may not
158 necessairly be different every cycle.
159
160 # * Optical sensor arrays are described as images and stored as metadata.
161 * Optical sensor arrays are described with images and referenced with metadata 140 * Optical sensor arrays are described with images and referenced with metadata
162 The vision pipeline described above handles the flow of rendered 141 The vision pipeline described above handles the flow of rendered
163 images. Now, we need simulated eyes to serve as the source of these 142 images. Now, we need simulated eyes to serve as the source of these
164 images. 143 images.
165 144
196 (bind-sense target cam) cam)) 175 (bind-sense target cam) cam))
197 #+end_src 176 #+end_src
198 177
199 Here, the camera is created based on metadata on the eye-node and 178 Here, the camera is created based on metadata on the eye-node and
200 attached to the nearest physical object with =(bind-sense)= 179 attached to the nearest physical object with =(bind-sense)=
201
202
203 ** The Retina 180 ** The Retina
204 181
205 An eye is a surface (the retina) which contains many discrete sensors 182 An eye is a surface (the retina) which contains many discrete sensors
206 to detect light. These sensors have can have different light-sensing 183 to detect light. These sensors have can have different light-sensing
207 properties. In humans, each discrete sensor is sensitive to red, 184 properties. In humans, each discrete sensor is sensitive to red,
743 (:import com.jme3.scene.Node) 720 (:import com.jme3.scene.Node)
744 (:import com.jme3.math.Vector3f) 721 (:import com.jme3.math.Vector3f)
745 (:import java.io.File) 722 (:import java.io.File)
746 (:import (com.aurellem.capture Capture RatchetTimer))) 723 (:import (com.aurellem.capture Capture RatchetTimer)))
747 #+end_src 724 #+end_src
748
749
750 * Source Listing 725 * Source Listing
751 - [[../src/cortex/vision.clj][cortex.vision]] 726 - [[../src/cortex/vision.clj][cortex.vision]]
752 - [[../src/cortex/test/vision.clj][cortex.test.vision]] 727 - [[../src/cortex/test/vision.clj][cortex.test.vision]]
753 - [[../src/cortex/video/magick2.clj][cortex.video.magick2]] 728 - [[../src/cortex/video/magick2.clj][cortex.video.magick2]]
754 - [[../assets/Models/subtitles/worm-vision-subtitles.blend][worm-vision-subtitles.blend]] 729 - [[../assets/Models/subtitles/worm-vision-subtitles.blend][worm-vision-subtitles.blend]]