rlm@34: #+title: Simulated Sense of Sight rlm@23: #+author: Robert McIntyre rlm@23: #+email: rlm@mit.edu rlm@38: #+description: Simulated sight for AI research using JMonkeyEngine3 and clojure rlm@34: #+keywords: computer vision, jMonkeyEngine3, clojure rlm@23: #+SETUPFILE: ../../aurellem/org/setup.org rlm@23: #+INCLUDE: ../../aurellem/org/level-0.org rlm@23: #+babel: :mkdirp yes :noweb yes :exports both rlm@23: ocsenave@264: * JMonkeyEngine natively supports multiple views of the same world. ocsenave@264: rlm@212: Vision is one of the most important senses for humans, so I need to rlm@212: build a simulated sense of vision for my AI. I will do this with rlm@306: simulated eyes. Each eye can be independently moved and should see its rlm@212: own version of the world depending on where it is. rlm@212: rlm@306: Making these simulated eyes a reality is simple because jMonkeyEngine rlm@306: already contains extensive support for multiple views of the same 3D rlm@218: simulated world. The reason jMonkeyEngine has this support is because rlm@218: the support is necessary to create games with split-screen rlm@218: views. Multiple views are also used to create efficient rlm@212: pseudo-reflections by rendering the scene from a certain perspective rlm@212: and then projecting it back onto a surface in the 3D world. rlm@212: rlm@218: #+caption: jMonkeyEngine supports multiple views to enable split-screen games, like GoldenEye, which was one of the first games to use split-screen views. rlm@212: [[../images/goldeneye-4-player.png]] rlm@212: ocsenave@264: ** =ViewPorts=, =SceneProcessors=, and the =RenderManager=. rlm@306: # =ViewPorts= are cameras; =RenderManger= takes snapshots each frame. ocsenave@264: #* A Brief Description of jMonkeyEngine's Rendering Pipeline rlm@212: rlm@213: jMonkeyEngine allows you to create a =ViewPort=, which represents a rlm@213: view of the simulated world. You can create as many of these as you rlm@213: want. Every frame, the =RenderManager= iterates through each rlm@213: =ViewPort=, rendering the scene in the GPU. For each =ViewPort= there rlm@213: is a =FrameBuffer= which represents the rendered image in the GPU. rlm@151: rlm@306: #+caption: =ViewPorts= are cameras in the world. During each frame, the =RenderManager= records a snapshot of what each view is currently seeing; these snapshots are =FrameBuffer= objects. ocsenave@265: #+ATTR_HTML: width="400" ocsenave@272: [[../images/diagram_rendermanager2.png]] ocsenave@262: rlm@213: Each =ViewPort= can have any number of attached =SceneProcessor= rlm@213: objects, which are called every time a new frame is rendered. A rlm@306: =SceneProcessor= receives its =ViewPort's= =FrameBuffer= and can do rlm@219: whatever it wants to the data. Often this consists of invoking GPU rlm@219: specific operations on the rendered image. The =SceneProcessor= can rlm@219: also copy the GPU image data to RAM and process it with the CPU. rlm@151: ocsenave@264: ** From Views to Vision ocsenave@264: # Appropriating Views for Vision. rlm@151: ocsenave@264: Each eye in the simulated creature needs its own =ViewPort= so that rlm@213: it can see the world from its own perspective. To this =ViewPort=, I rlm@306: add a =SceneProcessor= that feeds the visual data to any arbitrary rlm@213: continuation function for further processing. That continuation rlm@213: function may perform both CPU and GPU operations on the data. To make rlm@213: this easy for the continuation function, the =SceneProcessor= rlm@306: maintains appropriately sized buffers in RAM to hold the data. It does rlm@218: not do any copying from the GPU to the CPU itself because it is a slow rlm@218: operation. rlm@214: rlm@213: #+name: pipeline-1 rlm@213: #+begin_src clojure rlm@113: (defn vision-pipeline rlm@34: "Create a SceneProcessor object which wraps a vision processing rlm@113: continuation function. The continuation is a function that takes rlm@113: [#^Renderer r #^FrameBuffer fb #^ByteBuffer b #^BufferedImage bi], rlm@306: each of which has already been appropriately sized." rlm@23: [continuation] rlm@23: (let [byte-buffer (atom nil) rlm@113: renderer (atom nil) rlm@113: image (atom nil)] rlm@23: (proxy [SceneProcessor] [] rlm@23: (initialize rlm@23: [renderManager viewPort] rlm@23: (let [cam (.getCamera viewPort) rlm@23: width (.getWidth cam) rlm@23: height (.getHeight cam)] rlm@23: (reset! renderer (.getRenderer renderManager)) rlm@23: (reset! byte-buffer rlm@23: (BufferUtils/createByteBuffer rlm@113: (* width height 4))) rlm@113: (reset! image (BufferedImage. rlm@113: width height rlm@113: BufferedImage/TYPE_4BYTE_ABGR)))) rlm@23: (isInitialized [] (not (nil? @byte-buffer))) rlm@23: (reshape [_ _ _]) rlm@23: (preFrame [_]) rlm@23: (postQueue [_]) rlm@23: (postFrame rlm@23: [#^FrameBuffer fb] rlm@23: (.clear @byte-buffer) rlm@113: (continuation @renderer fb @byte-buffer @image)) rlm@23: (cleanup [])))) rlm@213: #+end_src rlm@213: rlm@273: The continuation function given to =vision-pipeline= above will be rlm@213: given a =Renderer= and three containers for image data. The rlm@218: =FrameBuffer= references the GPU image data, but the pixel data can rlm@218: not be used directly on the CPU. The =ByteBuffer= and =BufferedImage= rlm@219: are initially "empty" but are sized to hold the data in the rlm@306: =FrameBuffer=. I call transferring the GPU image data to the CPU rlm@213: structures "mixing" the image data. I have provided three functions to rlm@213: do this mixing. rlm@213: rlm@213: #+name: pipeline-2 rlm@213: #+begin_src clojure rlm@113: (defn frameBuffer->byteBuffer! rlm@113: "Transfer the data in the graphics card (Renderer, FrameBuffer) to rlm@113: the CPU (ByteBuffer)." rlm@113: [#^Renderer r #^FrameBuffer fb #^ByteBuffer bb] rlm@113: (.readFrameBuffer r fb bb) bb) rlm@113: rlm@113: (defn byteBuffer->bufferedImage! rlm@113: "Convert the C-style BGRA image data in the ByteBuffer bb to the AWT rlm@113: style ABGR image data and place it in BufferedImage bi." rlm@113: [#^ByteBuffer bb #^BufferedImage bi] rlm@113: (Screenshots/convertScreenShot bb bi) bi) rlm@113: rlm@113: (defn BufferedImage! rlm@113: "Continuation which will grab the buffered image from the materials rlm@113: provided by (vision-pipeline)." rlm@113: [#^Renderer r #^FrameBuffer fb #^ByteBuffer bb #^BufferedImage bi] rlm@113: (byteBuffer->bufferedImage! rlm@113: (frameBuffer->byteBuffer! r fb bb) bi)) rlm@213: #+end_src rlm@112: rlm@213: Note that it is possible to write vision processing algorithms rlm@213: entirely in terms of =BufferedImage= inputs. Just compose that rlm@273: =BufferedImage= algorithm with =BufferedImage!=. However, a vision rlm@213: processing algorithm that is entirely hosted on the GPU does not have rlm@306: to pay for this convenience. rlm@213: ocsenave@265: * Optical sensor arrays are described with images and referenced with metadata rlm@214: The vision pipeline described above handles the flow of rendered rlm@214: images. Now, we need simulated eyes to serve as the source of these rlm@214: images. rlm@214: rlm@214: An eye is described in blender in the same way as a joint. They are rlm@214: zero dimensional empty objects with no geometry whose local coordinate rlm@214: system determines the orientation of the resulting eye. All eyes are rlm@306: children of a parent node named "eyes" just as all joints have a rlm@214: parent named "joints". An eye binds to the nearest physical object rlm@273: with =bind-sense=. rlm@214: rlm@214: #+name: add-eye rlm@214: #+begin_src clojure rlm@215: (in-ns 'cortex.vision) rlm@215: rlm@214: (defn add-eye! rlm@214: "Create a Camera centered on the current position of 'eye which rlm@214: follows the closest physical node in 'creature and sends visual rlm@215: data to 'continuation. The camera will point in the X direction and rlm@215: use the Z vector as up as determined by the rotation of these rlm@215: vectors in blender coordinate space. Use XZY rotation for the node rlm@215: in blender." rlm@214: [#^Node creature #^Spatial eye] rlm@214: (let [target (closest-node creature eye) rlm@214: [cam-width cam-height] (eye-dimensions eye) rlm@215: cam (Camera. cam-width cam-height) rlm@215: rot (.getWorldRotation eye)] rlm@214: (.setLocation cam (.getWorldTranslation eye)) rlm@218: (.lookAtDirection rlm@218: cam ; this part is not a mistake and rlm@218: (.mult rot Vector3f/UNIT_X) ; is consistent with using Z in rlm@218: (.mult rot Vector3f/UNIT_Y)) ; blender as the UP vector. rlm@214: (.setFrustumPerspective rlm@215: cam 45 (/ (.getWidth cam) (.getHeight cam)) 1 1000) rlm@215: (bind-sense target cam) cam)) rlm@214: #+end_src rlm@214: rlm@214: Here, the camera is created based on metadata on the eye-node and rlm@273: attached to the nearest physical object with =bind-sense= rlm@214: ** The Retina rlm@214: rlm@214: An eye is a surface (the retina) which contains many discrete sensors rlm@218: to detect light. These sensors have can have different light-sensing rlm@214: properties. In humans, each discrete sensor is sensitive to red, rlm@214: blue, green, or gray. These different types of sensors can have rlm@214: different spatial distributions along the retina. In humans, there is rlm@214: a fovea in the center of the retina which has a very high density of rlm@214: color sensors, and a blind spot which has no sensors at all. Sensor rlm@219: density decreases in proportion to distance from the fovea. rlm@214: rlm@214: I want to be able to model any retinal configuration, so my eye-nodes rlm@214: in blender contain metadata pointing to images that describe the rlm@306: precise position of the individual sensors using white pixels. The rlm@306: meta-data also describes the precise sensitivity to light that the rlm@214: sensors described in the image have. An eye can contain any number of rlm@214: these images. For example, the metadata for an eye might look like rlm@214: this: rlm@214: rlm@214: #+begin_src clojure rlm@214: {0xFF0000 "Models/test-creature/retina-small.png"} rlm@214: #+end_src rlm@214: rlm@214: #+caption: The retinal profile image "Models/test-creature/retina-small.png". White pixels are photo-sensitive elements. The distribution of white pixels is denser in the middle and falls off at the edges and is inspired by the human retina. rlm@214: [[../assets/Models/test-creature/retina-small.png]] rlm@214: rlm@214: Together, the number 0xFF0000 and the image image above describe the rlm@214: placement of red-sensitive sensory elements. rlm@214: rlm@214: Meta-data to very crudely approximate a human eye might be something rlm@214: like this: rlm@214: rlm@214: #+begin_src clojure rlm@214: (let [retinal-profile "Models/test-creature/retina-small.png"] rlm@214: {0xFF0000 retinal-profile rlm@214: 0x00FF00 retinal-profile rlm@214: 0x0000FF retinal-profile rlm@214: 0xFFFFFF retinal-profile}) rlm@214: #+end_src rlm@214: rlm@214: The numbers that serve as keys in the map determine a sensor's rlm@214: relative sensitivity to the channels red, green, and blue. These rlm@218: sensitivity values are packed into an integer in the order =|_|R|G|B|= rlm@218: in 8-bit fields. The RGB values of a pixel in the image are added rlm@306: together with these sensitivities as linear weights. Therefore, rlm@214: 0xFF0000 means sensitive to red only while 0xFFFFFF means sensitive to rlm@214: all colors equally (gray). rlm@214: rlm@306: For convenience I've defined a few symbols for the more common rlm@214: sensitivity values. rlm@214: rlm@214: #+name: sensitivity rlm@214: #+begin_src clojure rlm@214: (defvar sensitivity-presets rlm@214: {:all 0xFFFFFF rlm@214: :red 0xFF0000 rlm@214: :blue 0x0000FF rlm@214: :green 0x00FF00} rlm@214: "Retinal sensitivity presets for sensors that extract one channel rlm@219: (:red :blue :green) or average all channels (:all)") rlm@214: #+end_src rlm@214: rlm@214: ** Metadata Processing rlm@214: rlm@273: =retina-sensor-profile= extracts a map from the eye-node in the same rlm@273: format as the example maps above. =eye-dimensions= finds the rlm@219: dimensions of the smallest image required to contain all the retinal rlm@214: sensor maps. rlm@214: rlm@216: #+name: retina rlm@214: #+begin_src clojure rlm@214: (defn retina-sensor-profile rlm@214: "Return a map of pixel sensitivity numbers to BufferedImages rlm@214: describing the distribution of light-sensitive components of this rlm@214: eye. :red, :green, :blue, :gray are already defined as extracting rlm@214: the red, green, blue, and average components respectively." rlm@214: [#^Spatial eye] rlm@214: (if-let [eye-map (meta-data eye "eye")] rlm@214: (map-vals rlm@214: load-image rlm@214: (eval (read-string eye-map))))) rlm@214: rlm@218: (defn eye-dimensions rlm@218: "Returns [width, height] determined by the metadata of the eye." rlm@214: [#^Spatial eye] rlm@214: (let [dimensions rlm@214: (map #(vector (.getWidth %) (.getHeight %)) rlm@214: (vals (retina-sensor-profile eye)))] rlm@214: [(apply max (map first dimensions)) rlm@214: (apply max (map second dimensions))])) rlm@214: #+end_src rlm@214: ocsenave@265: * Importing and parsing descriptions of eyes. rlm@214: First off, get the children of the "eyes" empty node to find all the rlm@214: eyes the creature has. rlm@216: #+name: eye-node rlm@214: #+begin_src clojure rlm@214: (defvar rlm@214: ^{:arglists '([creature])} rlm@214: eyes rlm@214: (sense-nodes "eyes") rlm@214: "Return the children of the creature's \"eyes\" node.") rlm@214: #+end_src rlm@214: rlm@273: Then, add the camera created by =add-eye!= to the simulation by rlm@215: creating a new viewport. rlm@214: rlm@216: #+name: add-camera rlm@213: #+begin_src clojure rlm@169: (defn add-camera! rlm@169: "Add a camera to the world, calling continuation on every frame rlm@34: produced." rlm@167: [#^Application world camera continuation] rlm@23: (let [width (.getWidth camera) rlm@23: height (.getHeight camera) rlm@23: render-manager (.getRenderManager world) rlm@23: viewport (.createMainView render-manager "eye-view" camera)] rlm@23: (doto viewport rlm@23: (.setClearFlags true true true) rlm@112: (.setBackgroundColor ColorRGBA/Black) rlm@113: (.addProcessor (vision-pipeline continuation)) rlm@23: (.attachScene (.getRootNode world))))) rlm@215: #+end_src rlm@151: rlm@151: rlm@218: The eye's continuation function should register the viewport with the rlm@218: simulation the first time it is called, use the CPU to extract the rlm@215: appropriate pixels from the rendered image and weight them by each rlm@218: sensor's sensitivity. I have the option to do this processing in rlm@218: native code for a slight gain in speed. I could also do it in the GPU rlm@273: for a massive gain in speed. =vision-kernel= generates a list of rlm@218: such continuation functions, one for each channel of the eye. rlm@151: rlm@216: #+name: kernel rlm@215: #+begin_src clojure rlm@215: (in-ns 'cortex.vision) rlm@151: rlm@215: (defrecord attached-viewport [vision-fn viewport-fn] rlm@215: clojure.lang.IFn rlm@215: (invoke [this world] (vision-fn world)) rlm@215: (applyTo [this args] (apply vision-fn args))) rlm@151: rlm@216: (defn pixel-sense [sensitivity pixel] rlm@216: (let [s-r (bit-shift-right (bit-and 0xFF0000 sensitivity) 16) rlm@216: s-g (bit-shift-right (bit-and 0x00FF00 sensitivity) 8) rlm@216: s-b (bit-and 0x0000FF sensitivity) rlm@216: rlm@216: p-r (bit-shift-right (bit-and 0xFF0000 pixel) 16) rlm@216: p-g (bit-shift-right (bit-and 0x00FF00 pixel) 8) rlm@216: p-b (bit-and 0x0000FF pixel) rlm@216: rlm@216: total-sensitivity (* 255 (+ s-r s-g s-b))] rlm@216: (float (/ (+ (* s-r p-r) rlm@216: (* s-g p-g) rlm@216: (* s-b p-b)) rlm@216: total-sensitivity)))) rlm@216: rlm@215: (defn vision-kernel rlm@171: "Returns a list of functions, each of which will return a color rlm@171: channel's worth of visual information when called inside a running rlm@171: simulation." rlm@151: [#^Node creature #^Spatial eye & {skip :skip :or {skip 0}}] rlm@169: (let [retinal-map (retina-sensor-profile eye) rlm@169: camera (add-eye! creature eye) rlm@151: vision-image rlm@151: (atom rlm@151: (BufferedImage. (.getWidth camera) rlm@151: (.getHeight camera) rlm@170: BufferedImage/TYPE_BYTE_BINARY)) rlm@170: register-eye! rlm@170: (runonce rlm@170: (fn [world] rlm@170: (add-camera! rlm@170: world camera rlm@170: (let [counter (atom 0)] rlm@170: (fn [r fb bb bi] rlm@170: (if (zero? (rem (swap! counter inc) (inc skip))) rlm@170: (reset! vision-image rlm@170: (BufferedImage! r fb bb bi))))))))] rlm@151: (vec rlm@151: (map rlm@151: (fn [[key image]] rlm@151: (let [whites (white-coordinates image) rlm@151: topology (vec (collapse whites)) rlm@216: sensitivity (sensitivity-presets key key)] rlm@215: (attached-viewport. rlm@215: (fn [world] rlm@215: (register-eye! world) rlm@215: (vector rlm@215: topology rlm@215: (vec rlm@215: (for [[x y] whites] rlm@216: (pixel-sense rlm@216: sensitivity rlm@216: (.getRGB @vision-image x y)))))) rlm@215: register-eye!))) rlm@215: retinal-map)))) rlm@151: rlm@215: (defn gen-fix-display rlm@215: "Create a function to call to restore a simulation's display when it rlm@215: is disrupted by a Viewport." rlm@215: [] rlm@215: (runonce rlm@215: (fn [world] rlm@215: (add-camera! world (.getCamera world) no-op)))) rlm@215: #+end_src rlm@170: rlm@273: Note that since each of the functions generated by =vision-kernel= rlm@273: shares the same =register-eye!= function, the eye will be registered rlm@215: only once the first time any of the functions from the list returned rlm@273: by =vision-kernel= is called. Each of the functions returned by rlm@273: =vision-kernel= also allows access to the =Viewport= through which rlm@306: it receives images. rlm@215: rlm@306: The in-game display can be disrupted by all the ViewPorts that the rlm@306: functions generated by =vision-kernel= add. This doesn't affect the rlm@215: simulation or the simulated senses, but can be annoying. rlm@273: =gen-fix-display= restores the in-simulation display. rlm@215: ocsenave@265: ** The =vision!= function creates sensory probes. rlm@215: rlm@218: All the hard work has been done; all that remains is to apply rlm@273: =vision-kernel= to each eye in the creature and gather the results rlm@215: into one list of functions. rlm@215: rlm@216: #+name: main rlm@215: #+begin_src clojure rlm@170: (defn vision! rlm@170: "Returns a function which returns visual sensory data when called rlm@218: inside a running simulation." rlm@151: [#^Node creature & {skip :skip :or {skip 0}}] rlm@151: (reduce rlm@170: concat rlm@167: (for [eye (eyes creature)] rlm@215: (vision-kernel creature eye)))) rlm@215: #+end_src rlm@151: ocsenave@265: ** Displaying visual data for debugging. ocsenave@265: # Visualization of Vision. Maybe less alliteration would be better. rlm@215: It's vital to have a visual representation for each sense. Here I use rlm@273: =view-sense= to construct a function that will create a display for rlm@215: visual data. rlm@215: rlm@216: #+name: display rlm@215: #+begin_src clojure rlm@216: (in-ns 'cortex.vision) rlm@216: rlm@189: (defn view-vision rlm@189: "Creates a function which accepts a list of visual sensor-data and rlm@189: displays each element of the list to the screen." rlm@189: [] rlm@188: (view-sense rlm@188: (fn rlm@188: [[coords sensor-data]] rlm@188: (let [image (points->image coords)] rlm@188: (dorun rlm@188: (for [i (range (count coords))] rlm@188: (.setRGB image ((coords i) 0) ((coords i) 1) rlm@216: (gray (int (* 255 (sensor-data i))))))) rlm@189: image)))) rlm@34: #+end_src rlm@23: ocsenave@264: * Demonstrations ocsenave@264: ** Demonstrating the vision pipeline. rlm@23: rlm@215: This is a basic test for the vision system. It only tests the ocsenave@264: vision-pipeline and does not deal with loading eyes from a blender rlm@215: file. The code creates two videos of the same rotating cube from rlm@215: different angles. rlm@23: rlm@215: #+name: test-1 rlm@23: #+begin_src clojure rlm@215: (in-ns 'cortex.test.vision) rlm@23: rlm@219: (defn test-pipeline rlm@69: "Testing vision: rlm@69: Tests the vision system by creating two views of the same rotating rlm@69: object from different angles and displaying both of those views in rlm@69: JFrames. rlm@69: rlm@69: You should see a rotating cube, and two windows, rlm@69: each displaying a different view of the cube." rlm@283: ([] (test-pipeline false)) rlm@283: ([record?] rlm@283: (let [candy rlm@283: (box 1 1 1 :physical? false :color ColorRGBA/Blue)] rlm@283: (world rlm@283: (doto (Node.) rlm@283: (.attachChild candy)) rlm@283: {} rlm@283: (fn [world] rlm@283: (let [cam (.clone (.getCamera world)) rlm@283: width (.getWidth cam) rlm@283: height (.getHeight cam)] rlm@283: (add-camera! world cam rlm@283: (comp rlm@283: (view-image rlm@283: (if record? rlm@283: (File. "/home/r/proj/cortex/render/vision/1"))) rlm@283: BufferedImage!)) rlm@283: (add-camera! world rlm@283: (doto (.clone cam) rlm@283: (.setLocation (Vector3f. -10 0 0)) rlm@283: (.lookAt Vector3f/ZERO Vector3f/UNIT_Y)) rlm@283: (comp rlm@283: (view-image rlm@283: (if record? rlm@283: (File. "/home/r/proj/cortex/render/vision/2"))) rlm@283: BufferedImage!)) rlm@283: ;; This is here to restore the main view rlm@112: ;; after the other views have completed processing rlm@283: (add-camera! world (.getCamera world) no-op))) rlm@283: (fn [world tpf] rlm@283: (.rotate candy (* tpf 0.2) 0 0)))))) rlm@23: #+end_src rlm@23: rlm@215: #+begin_html rlm@215:
rlm@215: rlm@215:

A rotating cube viewed from two different perspectives.

rlm@215:
rlm@215: #+end_html rlm@215: rlm@215: Creating multiple eyes like this can be used for stereoscopic vision rlm@215: simulation in a single creature or for simulating multiple creatures, rlm@215: each with their own sense of vision. ocsenave@264: ** Demonstrating eye import and parsing. rlm@215: rlm@218: To the worm from the last post, I add a new node that describes its rlm@215: eyes. rlm@215: rlm@215: #+attr_html: width=755 rlm@215: #+caption: The worm with newly added empty nodes describing a single eye. rlm@215: [[../images/worm-with-eye.png]] rlm@215: rlm@215: The node highlighted in yellow is the root level "eyes" node. It has rlm@218: a single child, highlighted in orange, which describes a single rlm@218: eye. This is the "eye" node. It is placed so that the worm will have rlm@218: an eye located in the center of the flat portion of its lower rlm@218: hemispherical section. rlm@218: rlm@218: The two nodes which are not highlighted describe the single joint of rlm@218: the worm. rlm@215: rlm@215: The metadata of the eye-node is: rlm@215: rlm@215: #+begin_src clojure :results verbatim :exports both rlm@215: (cortex.sense/meta-data rlm@218: (.getChild (.getChild (cortex.test.body/worm) "eyes") "eye") "eye") rlm@215: #+end_src rlm@215: rlm@215: #+results: rlm@215: : "(let [retina \"Models/test-creature/retina-small.png\"] rlm@215: : {:all retina :red retina :green retina :blue retina})" rlm@215: rlm@215: This is the approximation to the human eye described earlier. rlm@215: rlm@216: #+name: test-2 rlm@215: #+begin_src clojure rlm@215: (in-ns 'cortex.test.vision) rlm@215: rlm@216: (defn change-color [obj color] rlm@216: (println-repl obj) rlm@216: (if obj rlm@216: (.setColor (.getMaterial obj) "Color" color))) rlm@216: rlm@216: (defn colored-cannon-ball [color] rlm@216: (comp #(change-color % color) rlm@216: (fire-cannon-ball))) rlm@215: rlm@283: (defn test-worm-vision rlm@283: ([] (test-worm-vision false)) rlm@283: ([record?] rlm@283: (let [the-worm (doto (worm)(body!)) rlm@283: vision (vision! the-worm) rlm@283: vision-display (view-vision) rlm@283: fix-display (gen-fix-display) rlm@283: me (sphere 0.5 :color ColorRGBA/Blue :physical? false) rlm@283: x-axis rlm@283: (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red rlm@283: :position (Vector3f. 0 -5 0)) rlm@283: y-axis rlm@283: (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green rlm@283: :position (Vector3f. 0 -5 0)) rlm@283: z-axis rlm@283: (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue rlm@283: :position (Vector3f. 0 -5 0)) rlm@283: timer (RatchetTimer. 60)] rlm@215: rlm@283: (world (nodify [(floor) the-worm x-axis y-axis z-axis me]) rlm@283: (assoc standard-debug-controls rlm@283: "key-r" (colored-cannon-ball ColorRGBA/Red) rlm@283: "key-b" (colored-cannon-ball ColorRGBA/Blue) rlm@283: "key-g" (colored-cannon-ball ColorRGBA/Green)) rlm@283: (fn [world] rlm@283: (light-up-everything world) rlm@283: (speed-up world) rlm@283: (.setTimer world timer) rlm@306: (display-dilated-time world timer) rlm@283: ;; add a view from the worm's perspective rlm@283: (if record? rlm@283: (Capture/captureVideo rlm@283: world rlm@283: (File. rlm@283: "/home/r/proj/cortex/render/worm-vision/main-view"))) rlm@283: rlm@283: (add-camera! rlm@283: world rlm@283: (add-eye! the-worm rlm@283: (.getChild rlm@283: (.getChild the-worm "eyes") "eye")) rlm@283: (comp rlm@283: (view-image rlm@283: (if record? rlm@283: (File. rlm@283: "/home/r/proj/cortex/render/worm-vision/worm-view"))) rlm@283: BufferedImage!)) rlm@283: rlm@283: (set-gravity world Vector3f/ZERO)) rlm@283: rlm@283: (fn [world _ ] rlm@283: (.setLocalTranslation me (.getLocation (.getCamera world))) rlm@283: (vision-display rlm@283: (map #(% world) vision) rlm@283: (if record? (File. "/home/r/proj/cortex/render/worm-vision"))) rlm@283: (fix-display world)))))) rlm@215: #+end_src rlm@215: rlm@218: The world consists of the worm and a flat gray floor. I can shoot red, rlm@218: green, blue and white cannonballs at the worm. The worm is initially rlm@218: looking down at the floor, and there is no gravity. My perspective rlm@218: (the Main View), the worm's perspective (Worm View) and the 4 sensor rlm@218: channels that comprise the worm's eye are all saved frame-by-frame to rlm@218: disk. rlm@218: rlm@218: * Demonstration of Vision rlm@218: #+begin_html rlm@218:
rlm@218: rlm@218:

Simulated Vision in a Virtual Environment

rlm@218:
rlm@218: #+end_html rlm@218: rlm@218: ** Generate the Worm Video from Frames rlm@216: #+name: magick2 rlm@216: #+begin_src clojure rlm@216: (ns cortex.video.magick2 rlm@216: (:import java.io.File) rlm@216: (:use clojure.contrib.shell-out)) rlm@216: rlm@216: (defn images [path] rlm@216: (sort (rest (file-seq (File. path))))) rlm@216: rlm@216: (def base "/home/r/proj/cortex/render/worm-vision/") rlm@216: rlm@216: (defn pics [file] rlm@216: (images (str base file))) rlm@216: rlm@216: (defn combine-images [] rlm@216: (let [main-view (pics "main-view") rlm@216: worm-view (pics "worm-view") rlm@216: blue (pics "0") rlm@216: green (pics "1") rlm@216: red (pics "2") rlm@216: gray (pics "3") rlm@216: blender (let [b-pics (pics "blender")] rlm@216: (concat b-pics (repeat 9001 (last b-pics)))) rlm@216: background (repeat 9001 (File. (str base "background.png"))) rlm@216: targets (map rlm@216: #(File. (str base "out/" (format "%07d.png" %))) rlm@216: (range 0 (count main-view)))] rlm@216: (dorun rlm@216: (pmap rlm@216: (comp rlm@216: (fn [[background main-view worm-view red green blue gray blender target]] rlm@216: (println target) rlm@216: (sh "convert" rlm@216: background rlm@216: main-view "-geometry" "+18+17" "-composite" rlm@216: worm-view "-geometry" "+677+17" "-composite" rlm@216: green "-geometry" "+685+430" "-composite" rlm@216: red "-geometry" "+788+430" "-composite" rlm@216: blue "-geometry" "+894+430" "-composite" rlm@216: gray "-geometry" "+1000+430" "-composite" rlm@216: blender "-geometry" "+0+0" "-composite" rlm@216: target)) rlm@216: (fn [& args] (map #(.getCanonicalPath %) args))) rlm@216: background main-view worm-view red green blue gray blender targets)))) rlm@216: #+end_src rlm@216: rlm@216: #+begin_src sh :results silent rlm@216: cd /home/r/proj/cortex/render/worm-vision rlm@216: ffmpeg -r 25 -b 9001k -i out/%07d.png -vcodec libtheora worm-vision.ogg rlm@216: #+end_src rlm@236: ocsenave@265: * Onward! ocsenave@265: - As a neat bonus, this idea behind simulated vision also enables one ocsenave@265: to [[../../cortex/html/capture-video.html][capture live video feeds from jMonkeyEngine]]. ocsenave@265: - Now that we have vision, it's time to tackle [[./hearing.org][hearing]]. ocsenave@265: #+appendix ocsenave@265: rlm@215: * Headers rlm@215: rlm@213: #+name: vision-header rlm@213: #+begin_src clojure rlm@213: (ns cortex.vision rlm@213: "Simulate the sense of vision in jMonkeyEngine3. Enables multiple rlm@213: eyes from different positions to observe the same world, and pass rlm@306: the observed data to any arbitrary function. Automatically reads rlm@216: eye-nodes from specially prepared blender files and instantiates rlm@213: them in the world as actual eyes." rlm@213: {:author "Robert McIntyre"} rlm@213: (:use (cortex world sense util)) rlm@213: (:use clojure.contrib.def) rlm@213: (:import com.jme3.post.SceneProcessor) rlm@237: (:import (com.jme3.util BufferUtils Screenshots)) rlm@213: (:import java.nio.ByteBuffer) rlm@213: (:import java.awt.image.BufferedImage) rlm@213: (:import (com.jme3.renderer ViewPort Camera)) rlm@216: (:import (com.jme3.math ColorRGBA Vector3f Matrix3f)) rlm@213: (:import com.jme3.renderer.Renderer) rlm@213: (:import com.jme3.app.Application) rlm@213: (:import com.jme3.texture.FrameBuffer) rlm@213: (:import (com.jme3.scene Node Spatial))) rlm@213: #+end_src rlm@112: rlm@215: #+name: test-header rlm@215: #+begin_src clojure rlm@215: (ns cortex.test.vision rlm@215: (:use (cortex world sense util body vision)) rlm@215: (:use cortex.test.body) rlm@215: (:import java.awt.image.BufferedImage) rlm@215: (:import javax.swing.JPanel) rlm@215: (:import javax.swing.SwingUtilities) rlm@215: (:import java.awt.Dimension) rlm@215: (:import javax.swing.JFrame) rlm@215: (:import com.jme3.math.ColorRGBA) rlm@215: (:import com.jme3.scene.Node) rlm@215: (:import com.jme3.math.Vector3f) rlm@216: (:import java.io.File) rlm@216: (:import (com.aurellem.capture Capture RatchetTimer))) rlm@215: #+end_src rlm@216: * Source Listing rlm@216: - [[../src/cortex/vision.clj][cortex.vision]] rlm@216: - [[../src/cortex/test/vision.clj][cortex.test.vision]] rlm@216: - [[../src/cortex/video/magick2.clj][cortex.video.magick2]] rlm@216: - [[../assets/Models/subtitles/worm-vision-subtitles.blend][worm-vision-subtitles.blend]] rlm@216: #+html: rlm@216: - [[http://hg.bortreb.com ][source-repository]] rlm@216: rlm@35: rlm@273: * Next rlm@273: I find some [[./hearing.org][ears]] for the creature while exploring the guts of rlm@273: jMonkeyEngine's sound system. rlm@24: rlm@212: * COMMENT Generate Source rlm@34: #+begin_src clojure :tangle ../src/cortex/vision.clj rlm@216: <> rlm@216: <> rlm@216: <> rlm@216: <> rlm@216: <> rlm@216: <> rlm@216: <> rlm@216: <> rlm@216: <> rlm@216: <
> rlm@216: <> rlm@24: #+end_src rlm@24: rlm@68: #+begin_src clojure :tangle ../src/cortex/test/vision.clj rlm@215: <> rlm@215: <> rlm@216: <> rlm@24: #+end_src rlm@216: rlm@216: #+begin_src clojure :tangle ../src/cortex/video/magick2.clj rlm@216: <> rlm@216: #+end_src