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 

    42 

    43 (defn scene-processor

    44   "deals with converting FrameBuffers to BufferedImages so

    45    that the continuation function can be defined only in terms

    46    of what it does with BufferedImages"

    47   [continuation]

    48   (let [byte-buffer (atom nil)

    49 	renderer (atom nil)

    50 	image (atom nil)]

    51   (proxy [SceneProcessor] []

    52     (initialize

    53      [renderManager viewPort]

    54      (let [cam (.getCamera viewPort)

    55 	   width (.getWidth cam)

    56 	   height (.getHeight cam)]

    57        (reset! renderer (.getRenderer renderManager))

    58        (reset! byte-buffer

    59 	     (BufferUtils/createByteBuffer

    60 	      (* width height 4)))

    61        (reset! image (BufferedImage. width height

    62 				     BufferedImage/TYPE_4BYTE_ABGR))))

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

    64     (reshape [_ _ _])

    65     (preFrame [_])

    66     (postQueue [_])

    67     (postFrame

    68      [#^FrameBuffer fb]

    69      (.clear @byte-buffer)

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

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

    72      (continuation @image))

    73     (cleanup []))))

    74     

    75 (defn add-eye

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

    77    every frame produced"

    78   [world camera continuation]

    79   (let [width (.getWidth camera)

    80 	height (.getHeight camera)

    81 	render-manager (.getRenderManager world)

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

    83     (doto viewport

    84       (.setBackgroundColor ColorRGBA/Black)

    85       (.setClearFlags true true true)

    86       (.addProcessor (scene-processor continuation))

    87       (.attachScene (.getRootNode world)))))

    88 

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

    90   (SwingUtilities/invokeLater

    91    (fn []

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

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

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

    95        (.setDefaultCloseOperation JFrame/DISPOSE_ON_CLOSE)

    96        (.pack)

    97        (.setLocationRelativeTo nil)

    98        (.setResizable false)

    99        (.setVisible true)))))

   100 	   

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

   102   (proxy [JPanel] []

   103     (paintComponent 

   104      [g]

   105      (proxy-super paintComponent g)

   106      (locking image

   107        (.drawImage g image 0 0

   108 		   (proxy [ImageObserver]

   109 		       []

   110 		     (imageUpdate

   111 		      []

   112 		      (proxy-super imageUpdate))))))))

   113 

   114 (defn movie-image []

   115   (let [setup

   116 	(runonce

   117 	 (fn [#^BufferedImage image]

   118 	   (let [width (.getWidth image)

   119 		 height (.getHeight image)

   120 		 display (image-monitor image)

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

   122 	     display)))]

   123     (fn [#^BufferedImage image]

   124       (.repaint (setup image)))))

   125 	     

   126 

   127 (defn observer

   128   "place thy eye!"

   129   [world camera]

   130   (let [eye camera

   131 	width (.getWidth eye)

   132 	height (.getHeight eye)]

   133     (no-exceptions

   134      (add-eye

   135       world

   136       eye

   137       (movie-image)))))

   138 #+end_src

   139 

   140 #+srcname: test-vision

   141 #+begin_src clojure

   142 

   143 (ns test.vision)

   144 (use 'cortex.world)

   145 (use 'cortex.import)

   146 (use 'clojure.contrib.def)

   147 (use 'body.eye)

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

   149 (rlm.rlm-commands/help)

   150 (import java.nio.ByteBuffer)

   151 (import java.awt.image.BufferedImage)

   152 (import java.awt.Color)

   153 (import java.awt.Dimension)

   154 (import java.awt.Graphics)

   155 (import java.awt.Graphics2D)

   156 (import java.awt.event.WindowAdapter)

   157 (import java.awt.event.WindowEvent)

   158 (import java.awt.image.BufferedImage)

   159 (import java.nio.ByteBuffer)

   160 (import javax.swing.JFrame)

   161 (import javax.swing.JPanel)

   162 (import javax.swing.SwingUtilities)

   163 (import javax.swing.ImageIcon)

   164 (import javax.swing.JOptionPane)

   165 (import java.awt.image.ImageObserver)

   166 

   167 

   168 (def width 200)

   169 (def height 200)

   170 

   171 (defn camera []

   172   (doto (Camera. width height)

   173     (.setFrustumPerspective 45 1 1 1000)

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

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

   176 

   177 (defn camera2 []

   178   (doto (Camera. width height)

   179     (.setFrustumPerspective 45 1 1 1000)

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

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

   182 

   183 (defn setup-fn [world]

   184   (let [eye (camera)

   185 	width (.getWidth eye)

   186 	height (.getHeight eye)]

   187     (no-exceptions

   188      (add-eye

   189       world

   190       eye

   191       (runonce visual))

   192      (add-eye

   193       world

   194       (camera2)

   195       (runonce visual)))))

   196 

   197 (defn spider-eye [position]

   198   (doto (Camera. 200 200 )

   199     (.setFrustumPerspective 45 1 1 1000)

   200     (.setLocation position)

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

   202   

   203 (defn setup-fn* [world]

   204   (let [eye (camera)

   205 	width (.getWidth eye)

   206 	height (.getHeight eye)]

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

   208     (observer world (.getCamera world))

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

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

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

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

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

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

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

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

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

   218 

   219     )

   220   world)

   221 

   222 (defn test-world []

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

   224     (world

   225      (doto (Node.)

   226        (.attachChild thing))

   227      {}

   228      setup-fn

   229      (fn [world tpf]

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

   231        ))))

   232 

   233 

   234 #+end_src

   235 

   236 

   237 #+results: eyes

   238 : #'body.eye/test-world

   239 

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

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

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

   243 stereoscopic vision.

   244 

   245 

   246 

   247 * COMMENT code generation

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

   249 <<eyes>>

   250 #+end_src

   251 

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

   253 <<test-vision>>

   254 #+end_src
author	Robert McIntyre <rlm@mit.edu>
date	Mon, 24 Oct 2011 01:19:15 -0700
parents	cab2da252494
children	775d97247dd0