Mercurial > cortex

     1 #+title: Eyes

     2 #+author: Robert McIntyre

     3 #+email: rlm@mit.edu

     4 #+description: Simulating senses for AI research using JMonkeyEngine3

     5 #+SETUPFILE: ../../aurellem/org/setup.org

     6 #+INCLUDE: ../../aurellem/org/level-0.org

     7 #+babel: :mkdirp yes :noweb yes :exports both

     8 

     9 

    10 

    11 ** Eyes

    12 

    13 Ultimately I want to make creatures with eyes. Each eye can be

    14 independely moved and should see its own version of the world

    15 depending on where it is.

    16 #+srcname: eyes

    17 #+begin_src clojure 

    18 (ns body.eye)

    19 (use 'cortex.world)

    20 (use 'cortex.import)

    21 (use 'clojure.contrib.def)

    22 (cortex.import/mega-import-jme3)

    23 (rlm.rlm-commands/help)

    24 (import java.nio.ByteBuffer)

    25 (import java.awt.image.BufferedImage)

    26 (import java.awt.Color)

    27 (import java.awt.Dimension)

    28 (import java.awt.Graphics)

    29 (import java.awt.Graphics2D)

    30 (import java.awt.event.WindowAdapter)

    31 (import java.awt.event.WindowEvent)

    32 (import java.awt.image.BufferedImage)

    33 (import java.nio.ByteBuffer)

    34 (import javax.swing.JFrame)

    35 (import javax.swing.JPanel)

    36 (import javax.swing.SwingUtilities)

    37 (import javax.swing.ImageIcon)

    38 (import javax.swing.JOptionPane)

    39 (import java.awt.image.ImageObserver)

    40 

    41 (defn scene-processor

    42   "deals with converting FrameBuffers to BufferedImages so

    43    that the continuation function can be defined only in terms

    44    of what it does with BufferedImages"

    45   [continuation]

    46   (let [byte-buffer (atom nil)

    47 	renderer (atom nil)

    48 	image (atom nil)]

    49   (proxy [SceneProcessor] []

    50     (initialize

    51      [renderManager viewPort]

    52      (let [cam (.getCamera viewPort)

    53 	   width (.getWidth cam)

    54 	   height (.getHeight cam)]

    55        (reset! renderer (.getRenderer renderManager))

    56        (reset! byte-buffer

    57 	     (BufferUtils/createByteBuffer

    58 	      (* width height 4)))

    59        (reset! image (BufferedImage. width height

    60 				     BufferedImage/TYPE_4BYTE_ABGR))))

    61     (isInitialized [] (not (nil? @byte-buffer)))

    62     (reshape [_ _ _])

    63     (preFrame [_])

    64     (postQueue [_])

    65     (postFrame

    66      [#^FrameBuffer fb]

    67      (.clear @byte-buffer)

    68      (.readFrameBuffer @renderer fb @byte-buffer)

    69      (Screenshots/convertScreenShot @byte-buffer @image)

    70      (continuation @image))

    71     (cleanup []))))

    72     

    73 (defn add-eye

    74   "Add an eye to the world, and call continuation on

    75    every frame produced"

    76   [world camera continuation]

    77   (let [width (.getWidth camera)

    78 	height (.getHeight camera)

    79 	render-manager (.getRenderManager world)

    80 	viewport (.createMainView render-manager "eye-view" camera)]

    81     (doto viewport

    82       (.setBackgroundColor ColorRGBA/Black)

    83       (.setClearFlags true true true)

    84       (.addProcessor (scene-processor continuation))

    85       (.attachScene (.getRootNode world)))))

    86 

    87 (defn make-display-frame [display width height]

    88   (SwingUtilities/invokeLater

    89    (fn []

    90      (.setPreferredSize display (Dimension. width height))

    91      (doto (JFrame. "Eye Camera!")

    92        (-> (.getContentPane) (.add display))

    93        (.setDefaultCloseOperation JFrame/DISPOSE_ON_CLOSE)

    94        (.pack)

    95        (.setLocationRelativeTo nil)

    96        (.setResizable false)

    97        (.setVisible true)))))

    98 	   

    99 (defn image-monitor [#^BufferedImage image]

   100   (proxy [JPanel] []

   101     (paintComponent 

   102      [g]

   103      (proxy-super paintComponent g)

   104      (locking image

   105        (.drawImage g image 0 0

   106 		   (proxy [ImageObserver]

   107 		       []

   108 		     (imageUpdate

   109 		      []

   110 		      (proxy-super imageUpdate))))))))

   111 

   112 (defn movie-image []

   113   (let [setup

   114 	(runonce

   115 	 (fn [#^BufferedImage image]

   116 	   (let [width (.getWidth image)

   117 		 height (.getHeight image)

   118 		 display (image-monitor image)

   119 		 frame (make-display-frame display width height)]

   120 	     display)))]

   121     (fn [#^BufferedImage image]

   122       (.repaint (setup image)))))

   123 	     

   124 

   125 (defn observer

   126   "place thy eye!"

   127   [world camera]

   128   (let [eye camera

   129 	width (.getWidth eye)

   130 	height (.getHeight eye)]

   131     (no-exceptions

   132      (add-eye

   133       world

   134       eye

   135       (movie-image)))))

   136 #+end_src

   137 

   138 #+srcname: test-vision

   139 #+begin_src clojure

   140 

   141 (ns test.vision)

   142 (use 'cortex.world)

   143 (use 'cortex.import)

   144 (use 'clojure.contrib.def)

   145 (use 'body.eye)

   146 (cortex.import/mega-import-jme3)

   147 (rlm.rlm-commands/help)

   148 (import java.nio.ByteBuffer)

   149 (import java.awt.image.BufferedImage)

   150 (import java.awt.Color)

   151 (import java.awt.Dimension)

   152 (import java.awt.Graphics)

   153 (import java.awt.Graphics2D)

   154 (import java.awt.event.WindowAdapter)

   155 (import java.awt.event.WindowEvent)

   156 (import java.awt.image.BufferedImage)

   157 (import java.nio.ByteBuffer)

   158 (import javax.swing.JFrame)

   159 (import javax.swing.JPanel)

   160 (import javax.swing.SwingUtilities)

   161 (import javax.swing.ImageIcon)

   162 (import javax.swing.JOptionPane)

   163 (import java.awt.image.ImageObserver)

   164 

   165 

   166 (def width 200)

   167 (def height 200)

   168 

   169 (defn camera []

   170   (doto (Camera. width height)

   171     (.setFrustumPerspective 45 1 1 1000)

   172     (.setLocation (Vector3f. -3 0 -5))

   173     (.lookAt Vector3f/ZERO Vector3f/UNIT_Y)))

   174 

   175 (defn camera2 []

   176   (doto (Camera. width height)

   177     (.setFrustumPerspective 45 1 1 1000)

   178     (.setLocation (Vector3f. 3 0 -5))

   179     (.lookAt Vector3f/ZERO Vector3f/UNIT_Y)))

   180 

   181 (defn setup-fn [world]

   182   (let [eye (camera)

   183 	width (.getWidth eye)

   184 	height (.getHeight eye)]

   185     (no-exceptions

   186      (add-eye

   187       world

   188       eye

   189       (runonce visual))

   190      (add-eye

   191       world

   192       (camera2)

   193       (runonce visual)))))

   194 

   195 (defn spider-eye [position]

   196   (doto (Camera. 200 200 )

   197     (.setFrustumPerspective 45 1 1 1000)

   198     (.setLocation position)

   199     (.lookAt Vector3f/ZERO Vector3f/UNIT_Y)))

   200   

   201 (defn setup-fn* [world]

   202   (let [eye (camera)

   203 	width (.getWidth eye)

   204 	height (.getHeight eye)]

   205     ;;(.setClearFlags (.getViewPort world) true true true)

   206     (observer world (.getCamera world))

   207     (observer world (spider-eye (Vector3f.  3  0 -5)))

   208     ;;(observer world (spider-eye (Vector3f.  0  0 -5)))

   209     ;; (observer world (spider-eye (Vector3f. -3  0 -5)))

   210     ;; (observer world (spider-eye (Vector3f.  0  3 -5)))

   211     ;; (observer world (spider-eye (Vector3f.  0 -3 -5)))

   212     ;; (observer world (spider-eye (Vector3f.  3  3 -5)))

   213     ;; (observer world (spider-eye (Vector3f. -3  3 -5)))

   214     ;; (observer world (spider-eye (Vector3f.  3 -3 -5)))

   215     ;; (observer world (spider-eye (Vector3f. -3 -3 -5)))

   216 

   217     )

   218   world)

   219 

   220 (defn test-world []

   221   (let [thing (box 1 1 1 :physical? false)]

   222     (world

   223      (doto (Node.)

   224        (.attachChild thing))

   225      {}

   226      setup-fn

   227      (fn [world tpf]

   228        (.rotate thing (* tpf 0.2) 0 0)

   229        ))))

   230 

   231 

   232 #+end_src

   233 

   234 

   235 #+results: eyes

   236 : #'body.eye/test-world

   237 

   238 Note the use of continuation passing style for connecting the eye to a

   239 function to process the output. The example code will create two

   240 videos of the same rotating cube from different angles, sutiable for

   241 stereoscopic vision.

   242 

   243 

   244 

   245 * COMMENT code generation

   246 #+begin_src clojure :tangle ../src/body/eye.clj

   247 <<eyes>>

   248 #+end_src

   249 

   250 #+begin_src clojure :tangle ../src/test/vision.clj

   251 <<test-vision>>

   252 #+end_src
author	Robert McIntyre <rlm@mit.edu>
date	Mon, 24 Oct 2011 07:36:04 -0700
parents	775d97247dd0
children	183744c179e6