view org/eyes.org @ 36:91090f8a4414

minor change to vision
author Robert McIntyre <rlm@mit.edu>
date Thu, 03 Nov 2011 08:42:39 -0700
parents 5eb5c6f0590b
children 99971a59b6ac
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1 #+title: Simulated Sense of Sight
2 #+author: Robert McIntyre
3 #+email: rlm@mit.edu
4 #+description: Simulated sight for AI research using JMonkeyEngine3
5 #+keywords: computer vision, jMonkeyEngine3, clojure
6 #+SETUPFILE: ../../aurellem/org/setup.org
7 #+INCLUDE: ../../aurellem/org/level-0.org
8 #+babel: :mkdirp yes :noweb yes :exports both
10 * Vision
12 I want to make creatures with eyes. Each eye can be independely moved
13 and should see its own version of the world depending on where it is.
14 #+srcname: eyes
15 #+begin_src clojure
16 (ns cortex.vision
17 "Simulate the sense of vision in jMonkeyEngine3. Enables multiple
18 eyes from different positions to observe the same world, and pass
19 the observed data to any arbitray function."
20 {:author "Robert McIntyre"}
21 (:use cortex.world)
22 (:import com.jme3.post.SceneProcessor)
23 (:import (com.jme3.util Screenshots BufferUtils))
24 (:import java.nio.ByteBuffer)
25 (:import java.awt.image.BufferedImage)
26 (:import com.jme3.renderer.ViewPort)
27 (:import com.jme3.math.ColorRGBA))
29 (defn scene-processor
30 "Create a SceneProcessor object which wraps a vision processing
31 continuation function. The SceneProcessor will take care of
32 converting the rendered frame to a BufferedImage and passing that
33 BufferedImage to the continuation. The continuation should be a
34 function that takes a BufferedImage."
35 [continuation]
36 (let [byte-buffer (atom nil)
37 renderer (atom nil)
38 image (atom nil)]
39 (proxy [SceneProcessor] []
40 (initialize
41 [renderManager viewPort]
42 (let [cam (.getCamera viewPort)
43 width (.getWidth cam)
44 height (.getHeight cam)]
45 (reset! renderer (.getRenderer renderManager))
46 (reset! byte-buffer
47 (BufferUtils/createByteBuffer
48 (* width height 4)))
49 (reset! image (BufferedImage.
50 width height
51 BufferedImage/TYPE_4BYTE_ABGR))))
52 (isInitialized [] (not (nil? @byte-buffer)))
53 (reshape [_ _ _])
54 (preFrame [_])
55 (postQueue [_])
56 (postFrame
57 [#^FrameBuffer fb]
58 (.clear @byte-buffer)
59 (.readFrameBuffer @renderer fb @byte-buffer)
60 (Screenshots/convertScreenShot @byte-buffer @image)
61 (continuation @image))
62 (cleanup []))))
64 (defn add-eye
65 "Add an eye to the world, calling continuation on every frame
66 produced."
67 [world camera continuation]
68 (let [width (.getWidth camera)
69 height (.getHeight camera)
70 render-manager (.getRenderManager world)
71 viewport (.createMainView render-manager "eye-view" camera)]
72 (doto viewport
73 (.setClearFlags true true true)
74 (.setBackgroundColor ColorRGBA/Gray)
75 (.addProcessor (scene-processor continuation))
76 (.attachScene (.getRootNode world)))))
78 #+end_src
80 Note the use of continuation passing style for connecting the eye to a
81 function to process the output. You can create any number of eyes, and
82 each of them will see the world from their own =Camera=. Once every
83 frame, the rendered image is copied to a =BufferedImage=, and that
84 data is sent off to the continuation function. Moving the =Camera=
85 which was used to create the eye will change what the eye sees.
87 * Example
89 #+srcname: test-vision
90 #+begin_src clojure
91 (ns test.vision
92 (:use (cortex world util vision))
93 (:import java.awt.image.BufferedImage)
94 (:import javax.swing.JPanel)
95 (:import javax.swing.SwingUtilities)
96 (:import java.awt.Dimension)
97 (:import javax.swing.JFrame)
98 (:import com.jme3.math.ColorRGBA)
99 (:import com.jme3.scene.Node))
101 (defn view-image
102 "Initailizes a JPanel on which you may draw a BufferedImage of the
103 given width and height. Returns a function that accepts a
104 BufferedImage and draws it to the JPanel."
105 [width height]
106 (let [image
107 (atom
108 (BufferedImage. width height BufferedImage/TYPE_4BYTE_ABGR))
109 panel
110 (proxy [JPanel] []
111 (paint
112 [graphics]
113 (proxy-super paintComponent graphics)
114 (.drawImage graphics @image 0 0 nil)))]
115 (SwingUtilities/invokeLater
116 (fn []
117 (.setPreferredSize panel (Dimension. width height))
118 (doto (JFrame. "Eye Camera!")
119 (-> (.getContentPane) (.add panel))
120 (.pack)
121 (.setLocationRelativeTo nil)
122 (.setResizable false)
123 (.setVisible true))))
124 (fn [#^BufferedImage i]
125 (reset! image i)
126 (.repaint panel))))
128 (defn test-two-eyes
129 "Tests the vision system by creating two views of the same rotating
130 object from different angles and displaying both of those views in
131 JFrames."
132 []
133 (.start
134 (let [candy
135 (box 1 1 1 :physical? false :color ColorRGBA/Blue)]
136 (world (doto (Node.)
137 (.attachChild candy))
138 {}
139 (fn [world]
140 (let [cam (.clone (.getCamera world))
141 width (.getWidth cam)
142 height (.getHeight cam)]
143 (add-eye world cam (view-image width height))
144 (add-eye world
145 (doto (.clone cam)
146 (.setLocation (Vector3f. -10 0 0))
147 (.lookAt Vector3f/ZERO Vector3f/UNIT_Y))
148 (view-image width height))
149 ;; This is here to restore the main view
150 ;; after the other views have completed processing
151 (add-eye world (.getCamera world) no-op)))
152 (fn [world tpf]
153 (.rotate candy (* tpf 0.2) 0 0))))))
154 #+end_src
156 The example code will create two videos of the same rotating object
157 from different angles. It can be used both for stereoscopic vision
158 simulation or for simulating multiple creatures, each with their own
159 sense of vision.
161 - As a neat bonus, this idea behind simulated vision also enables one
162 to [[../../cortex/html/capture-video.html][capture live video feeds from jMonkeyEngine]].
165 * COMMENT code generation
166 #+begin_src clojure :tangle ../src/cortex/vision.clj
167 <<eyes>>
168 #+end_src
170 #+begin_src clojure :tangle ../src/test/vision.clj
171 <<test-vision>>
172 #+end_src