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comparison org/vision.org @ 338:d37ccb6c888f

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determined that the laptop cannot support arbitray dimensions when creating cameras. will need to use desktop from here on out when doing actual simulations.
author Robert McIntyre <rlm@mit.edu>
date Fri, 20 Jul 2012 16:40:25 -0500
parents fdc98824d69b
children 4f5a5d5f1613
comparison
equal deleted inserted replaced
337:fdc98824d69b 338:d37ccb6c888f
147 #+begin_src clojure 147 #+begin_src clojure
148 (in-ns 'cortex.vision) 148 (in-ns 'cortex.vision)
149 149
150 (defn add-eye! 150 (defn add-eye!
151 "Create a Camera centered on the current position of 'eye which 151 "Create a Camera centered on the current position of 'eye which
152 follows the closest physical node in 'creature and sends visual 152 follows the closest physical node in 'creature. The camera will
153 data to 'continuation. The camera will point in the X direction and 153 point in the X direction and use the Z vector as up as determined
154 use the Z vector as up as determined by the rotation of these 154 by the rotation of these vectors in blender coordinate space. Use
155 vectors in blender coordinate space. Use XZY rotation for the node 155 XZY rotation for the node in blender."
156 in blender."
157 [#^Node creature #^Spatial eye] 156 [#^Node creature #^Spatial eye]
158 (let [target (closest-node creature eye) 157 (let [target (closest-node creature eye)
159 [cam-width cam-height] (eye-dimensions eye) 158 [cam-width cam-height]
159 ;;[640 480] ;; graphics card on laptop doesn't support
160 ;; arbitray dimensions.
161 (eye-dimensions eye)
160 cam (Camera. cam-width cam-height) 162 cam (Camera. cam-width cam-height)
161 rot (.getWorldRotation eye)] 163 rot (.getWorldRotation eye)]
162 (.setLocation cam (.getWorldTranslation eye)) 164 (.setLocation cam (.getWorldTranslation eye))
163 (.lookAtDirection 165 (.lookAtDirection
164 cam ; this part is not a mistake and 166 cam ; this part is not a mistake and
165 (.mult rot Vector3f/UNIT_X) ; is consistent with using Z in 167 (.mult rot Vector3f/UNIT_X) ; is consistent with using Z in
166 (.mult rot Vector3f/UNIT_Y)) ; blender as the UP vector. 168 (.mult rot Vector3f/UNIT_Y)) ; blender as the UP vector.
167 (.setFrustumPerspective 169 (.setFrustumPerspective
168 cam 45 (/ (.getWidth cam) (.getHeight cam)) 1 1000) 170 cam (float 45)
171 (float (/ (.getWidth cam) (.getHeight cam)))
172 (float 1)
173 (float 1000))
169 (bind-sense target cam) cam)) 174 (bind-sense target cam) cam))
170 #+end_src 175 #+end_src
176
177 #+results: add-eye
178 : #'cortex.vision/add-eye!
171 179
172 Here, the camera is created based on metadata on the eye-node and 180 Here, the camera is created based on metadata on the eye-node and
173 attached to the nearest physical object with =bind-sense= 181 attached to the nearest physical object with =bind-sense=
174 ** The Retina 182 ** The Retina
175 183
278 Then, add the camera created by =add-eye!= to the simulation by 286 Then, add the camera created by =add-eye!= to the simulation by
279 creating a new viewport. 287 creating a new viewport.
280 288
281 #+name: add-camera 289 #+name: add-camera
282 #+begin_src clojure 290 #+begin_src clojure
291 (in-ns 'cortex.vision)
283 (defn add-camera! 292 (defn add-camera!
284 "Add a camera to the world, calling continuation on every frame 293 "Add a camera to the world, calling continuation on every frame
285 produced." 294 produced."
286 [#^Application world camera continuation] 295 [#^Application world camera continuation]
287 (let [width (.getWidth camera) 296 (let [width (.getWidth camera)
292 (.setClearFlags true true true) 301 (.setClearFlags true true true)
293 (.setBackgroundColor ColorRGBA/Black) 302 (.setBackgroundColor ColorRGBA/Black)
294 (.addProcessor (vision-pipeline continuation)) 303 (.addProcessor (vision-pipeline continuation))
295 (.attachScene (.getRootNode world))))) 304 (.attachScene (.getRootNode world)))))
296 #+end_src 305 #+end_src
306
307 #+results: add-camera
308 : #'cortex.vision/add-camera!
297 309
298 310
299 The eye's continuation function should register the viewport with the 311 The eye's continuation function should register the viewport with the
300 simulation the first time it is called, use the CPU to extract the 312 simulation the first time it is called, use the CPU to extract the
301 appropriate pixels from the rendered image and weight them by each 313 appropriate pixels from the rendered image and weight them by each
543 555
544 (defn colored-cannon-ball [color] 556 (defn colored-cannon-ball [color]
545 (comp #(change-color % color) 557 (comp #(change-color % color)
546 (fire-cannon-ball))) 558 (fire-cannon-ball)))
547 559
560 (defn gen-worm
561 "create a creature acceptable for testing as a replacement for the
562 worm."
563 []
564 (nodify
565 "worm"
566 [(nodify
567 "eyes"
568 [(doto
569 (Node. "eye1")
570 (.setLocalTranslation (Vector3f. 0 -1.1 0))
571 (.setUserData
572
573 "eye"
574 "(let [retina
575 \"Models/test-creature/retina-small.png\"]
576 {:all retina :red retina
577 :green retina :blue retina})"))])
578 (box
579 0.2 0.2 0.2
580 :name "worm-segment"
581 :position (Vector3f. 0 0 0)
582 :color ColorRGBA/Orange)]))
583
584
585
548 (defn test-worm-vision 586 (defn test-worm-vision
549 "Testing vision: 587 "Testing vision:
550 You should see the worm suspended in mid-air, looking down at a 588 You should see the worm suspended in mid-air, looking down at a
551 table. There are four small displays, one each for red, green blue, 589 table. There are four small displays, one each for red, green blue,
552 and gray channels. You can fire balls of various colors, and the 590 and gray channels. You can fire balls of various colors, and the
555 Keys: 593 Keys:
556 r : fire red-ball 594 r : fire red-ball
557 b : fire blue-ball 595 b : fire blue-ball
558 g : fire green-ball 596 g : fire green-ball
559 <space> : fire white ball" 597 <space> : fire white ball"
560 598
561 ([] (test-worm-vision false)) 599 ([] (test-worm-vision false))
562 ([record?] 600 ([record?]
563 (let [the-worm (doto (worm)(body!)) 601 (let [the-worm (doto (worm)(body!))
564 vision (vision! the-worm) 602 ;;the-worm (gen-worm)
603 ;;vision (vision! the-worm)
565 ;;vision-display (view-vision) 604 ;;vision-display (view-vision)
566 fix-display (gen-fix-display) 605 ;;fix-display (gen-fix-display)
567 me (sphere 0.5 :color ColorRGBA/Blue :physical? false) 606 me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
568 x-axis 607 x-axis
569 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red 608 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red
570 :position (Vector3f. 0 -5 0)) 609 :position (Vector3f. 0 -5 0))
571 y-axis 610 y-axis
572 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green 611 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green
573 :position (Vector3f. 0 -5 0)) 612 :position (Vector3f. 0 -5 0))
574 z-axis 613 z-axis
575 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue 614 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue
576 :position (Vector3f. 0 -5 0)) 615 :position (Vector3f. 0 -5 0))
577 timer (RatchetTimer. 60)] 616 timer (RatchetTimer. 60)
617 ]
578 618
579 (world 619 (world
580 (nodify [(floor) the-worm x-axis y-axis z-axis me]) 620 (nodify [(floor) the-worm x-axis y-axis z-axis me])
581 (assoc standard-debug-controls 621 standard-debug-controls
582 "key-r" (colored-cannon-ball ColorRGBA/Red) 622 ;;"key-r" (colored-cannon-ball ColorRGBA/Red)
583 "key-b" (colored-cannon-ball ColorRGBA/Blue) 623 ;;"key-b" (colored-cannon-ball ColorRGBA/Blue)
584 "key-g" (colored-cannon-ball ColorRGBA/Green)) 624 ;;"key-g" (colored-cannon-ball ColorRGBA/Green))
625
585 (fn [world] 626 (fn [world]
586 (light-up-everything world) 627 (let
587 ;;(speed-up world) 628 [eye-pos (Vector3f. 0 30 0)
588 (.setTimer world timer) 629 cam (doto
589 ;;(display-dilated-time world timer) 630 (.clone (.getCamera world))
590 ;; add a view from the worm's perspective 631 (.setLocation eye-pos)
591 (if record? 632 (.lookAt Vector3f/ZERO
592 (Capture/captureVideo 633 Vector3f/UNIT_X))
634
635 bad-cam (doto
636 ;;saved-cam
637 ;;(.clone (.getCamera world))
638
639 (com.jme3.renderer.Camera. 640 480)
640 (.setFrustumPerspective
641 (float 45)
642 (float (/ 640 480))
643 (float 1)
644 (float 1000))
645
646 (.setLocation eye-pos)
647 (.lookAt Vector3f/ZERO
648 Vector3f/UNIT_X))
649
650 bad-cam (add-eye! the-worm (first (eyes the-worm)))
651 ]
652
653
654 (light-up-everything world)
655 ;;(speed-up world)
656 (.setTimer world timer)
657 ;;(display-dilated-time world timer)
658 ;; add a view from the worm's perspective
659 (if record?
660 (Capture/captureVideo
661 world
662 (File.
663 "/home/r/proj/cortex/render/worm-vision/main-view")))
664
665 (bind-sense (last (node-seq the-worm)) cam)
666 (bind-sense (last (node-seq the-worm)) bad-cam)
667
668 (add-camera!
593 world 669 world
594 (File. 670 bad-cam
595 "/home/r/proj/cortex/render/worm-vision/main-view"))) 671 (comp
596 672 (view-image
597 (add-camera! 673 (if record?
598 world 674 (File.
599 (add-eye! the-worm 675 "/home/r/proj/cortex/render/worm-vision/worm-view")))
600 (.getChild 676 BufferedImage!))
601 (.getChild the-worm "eyes") "eye")) 677
602 (comp 678
603 (view-image 679
604 (if record? 680 (add-camera!
605 (File. 681 world cam
606 "/home/r/proj/cortex/render/worm-vision/worm-view"))) 682 (comp
607 BufferedImage!)) 683 (view-image
608 (set-gravity world Vector3f/ZERO)) 684 (if record?
685 (File.
686 "/home/r/proj/cortex/render/worm-vision/worm-view")))
687 BufferedImage!))
688 (set-gravity world Vector3f/ZERO)
689 (add-camera! world (.getCamera world) no-op)
690
691 (println-repl cam "\n" bad-cam)
692
693 ))
609 694
610 (fn [world _ ] 695 (fn [world _ ]
611 (.setLocalTranslation me (.getLocation (.getCamera world))) 696 (.setLocalTranslation me (.getLocation (.getCamera world)))
612 ;; (vision-display 697 ;; (vision-display
613 ;; (map #(% world) vision) 698 ;; (map #(% world) vision)
614 ;; (if record? 699 ;; (if record?
615 ;; (File. "/home/r/proj/cortex/render/worm-vision"))) 700 ;; (File. "/home/r/proj/cortex/render/worm-vision")))
616 (fix-display world) 701 ;;(fix-display world)
617 ))))) 702 )))))
618 #+end_src 703 #+end_src
619 704
620 #+RESULTS: test-2 705 #+RESULTS: test-2
621 : #'cortex.test.vision/test-worm-vision 706 : #'cortex.test.vision/test-worm-vision