rlm@356: #+title: Fun with Gabor Filters
rlm@356: #+author: Robert McIntyre
rlm@356: #+email: rlm@mit.edu
rlm@356: #+description: gabor filters in clojure with opencv
rlm@356: #+keywords: computer vision, jMonkeyEngine3, clojure, opencv
rlm@356: #+SETUPFILE: ../../aurellem/org/setup.org
rlm@356: #+INCLUDE: ../../aurellem/org/level-0.org
rlm@356: #+babel: :mkdirp yes :noweb yes :exports both
rlm@356: 
rlm@356: 
rlm@356: 
rlm@356: #+name: gabor
rlm@356: #+begin_src clojure
rlm@357: (ns cortex.gabor
rlm@357:   (:import org.opencv.core.CvType)
rlm@357:   (:import java.awt.image.BufferedImage)
rlm@357:   (:import ij.ImagePlus)
rlm@358:   (:import org.opencv.core.Mat)
rlm@363:   (:use (cortex world sense util vision))
rlm@363:   (:import com.jme3.post.SceneProcessor)
rlm@363:   (:import (com.jme3.util BufferUtils Screenshots))
rlm@363:   (:import java.nio.ByteBuffer)
rlm@363:   (:import java.awt.image.BufferedImage)
rlm@363:   (:import (com.jme3.renderer ViewPort Camera))
rlm@363:   (:import (com.jme3.math ColorRGBA Vector3f Matrix3f Vector2f))
rlm@363:   (:import com.jme3.renderer.Renderer)
rlm@363:   (:import com.jme3.app.Application)
rlm@363:   (:import com.jme3.texture.FrameBuffer)
rlm@363:   (:import (com.jme3.scene Node Spatial)))
rlm@363: 
rlm@363: 
rlm@363: (cortex.import/mega-import-jme3)
rlm@356: 
rlm@356: (defn load-opencv
rlm@356:   "Load the opencv native library. Must be called before any OpenCV
rlm@356:   stuff is used."
rlm@356:   []
rlm@356:   (clojure.lang.RT/loadLibrary "opencv_java249"))
rlm@356: 
rlm@359: (defn gabor-kernel [sigma aspect-ratio theta wavelength phase-offset]
rlm@359:   
rlm@359:   ;; first, find the size of the kernel which is required
rlm@359:   (let [square #(expt % 2)
rlm@359:         rotated (fn [[x y]]
rlm@359:                   [(+ (* x (Math/cos theta)) (* y (Math/sin theta)))
rlm@359:                    (- (* y (Math/cos theta))  (* x (Math/sin theta)))])
rlm@359:                              
rlm@359:         gaussian (fn [[x y]]
rlm@359:                    (let [[x' y'] (rotated [x y])]
rlm@359:                      (Math/exp (- (/ (+ (square x')
rlm@359:                                         (square (* aspect-ratio y')))
rlm@359:                                    (* 2 (square sigma)))))))
rlm@359:         sinusoid (fn [[x y]]
rlm@359:                    (let [[x' y'] (rotated [x y])]
rlm@359:                      (Math/cos
rlm@359:                       (+ (* 2 Math/PI (/ x' wavelength))
rlm@359:                          phase-offset))))
rlm@359: 
rlm@361:         half-width
rlm@361:         (let [std-dev-capture 5]
rlm@361:           (max
rlm@361:            (int (* std-dev-capture (/ sigma aspect-ratio)))
rlm@361:            (int (* std-dev-capture sigma))
rlm@361:            (int (* std-dev-capture (/ aspect-ratio sigma)))))
rlm@359: 
rlm@359:         grid (let [axis (range (- half-width) (inc half-width))]
rlm@359:                (for [y (reverse axis) x axis] (vector x y)))
rlm@359: 
rlm@359:         scale (reduce + (map gaussian grid))
rlm@359:         
rlm@359:         gabor (fn [[x y :as coord]]
rlm@360:                 (* (sinusoid coord) (gaussian coord) (/ scale)))
rlm@359: 
rlm@359:         mat-width (+ 1 (* 2 half-width))
rlm@359:         mat (Mat. mat-width mat-width CvType/CV_32F)]
rlm@359:     
rlm@359:     (.put mat 0 0 (float-array (map gabor grid)))
rlm@361:     mat))
rlm@359: 
rlm@359: 
rlm@361: (defn draw-kernel! [kernel img-path]
rlm@361:   (let [output img-path
rlm@360:         size (.size kernel)
rlm@360:         width (int (.width size))
rlm@360:         height (int (.height size))
rlm@360:         tmp-array (float-array (* width height))]
rlm@360: 
rlm@360:     ;; read values from matrix.
rlm@360:     (.get kernel 0 0 tmp-array)
rlm@360: 
rlm@360:     ;; find overall dynamic range of the filter
rlm@360:     (let [vals (vec tmp-array)
rlm@360:           low (apply min vals)
rlm@360:           high (apply max vals)
rlm@360:           scaled-vals (map #(* 255 (- % low) (/ (- high low))) vals)
rlm@360:           new-mat (Mat. height width CvType/CV_32F)]
rlm@360:       (.put new-mat 0 0 (float-array scaled-vals))
rlm@361:       (org.opencv.highgui.Highgui/imwrite output new-mat))))
rlm@361: 
rlm@361: (defn show-kernel [kernel]
rlm@361:   (let [img-path "/home/r/proj/cortex/tmp/kernel.png"]
rlm@362:     (draw-kernel! kernel img-path)
rlm@361:     (view (ImagePlus. output))))
rlm@359: 
rlm@359: (defn print-kernel [kernel]
rlm@359:   (println (.dump kernel)))
rlm@359:                            
rlm@363: 
rlm@363: (def brick-length 0.48)
rlm@363: (def brick-width 0.24)
rlm@363: (def brick-height 0.12)
rlm@363: (def gravity (Vector3f. 0 -9.81 0))
rlm@363: 
rlm@363: 
rlm@363: (defn brick* [position]
rlm@363:   (println "get brick.")
rlm@363:   (doto (box brick-length brick-height brick-width
rlm@363: 	     :position position :name "brick"
rlm@363: 	     :material "Common/MatDefs/Misc/Unshaded.j3md"
rlm@363: 	     :texture "Textures/Terrain/BrickWall/BrickWall.jpg"
rlm@363: 	     :mass 34)
rlm@363:     (->
rlm@363:      (.getMesh)
rlm@363:      (.scaleTextureCoordinates (Vector2f. 1 0.5)))
rlm@363:     (.setShadowMode RenderQueue$ShadowMode/CastAndReceive)
rlm@363:     )
rlm@363:   )
rlm@363: 
rlm@363: 
rlm@363: (defn floor*
rlm@363:   "make a sturdy, unmovable physical floor"
rlm@363:   []
rlm@363:   (box 10 0.1 5 :name "floor" :mass 0 :color ColorRGBA/Gray :position (Vector3f. 0 0 0)))
rlm@363: 
rlm@363: (defn floor* []
rlm@363:   (doto (box 10 0.1 5 :name "floor" ;10 0.1 5 ; 240 0.1 240
rlm@363: 	     :material "Common/MatDefs/Misc/Unshaded.j3md"
rlm@363: 	     :texture "Textures/BronzeCopper030.jpg"
rlm@363: 	     :position (Vector3f. 0 0 0 )
rlm@363: 	     :mass 0)
rlm@363:     (->
rlm@363:      (.getMesh)
rlm@363:      (.scaleTextureCoordinates (Vector2f. 3 6)));64 64
rlm@363:     (->
rlm@363:      (.getMaterial)
rlm@363:      (.getTextureParam "ColorMap")
rlm@363:      (.getTextureValue)
rlm@363:      (.setWrap Texture$WrapMode/Repeat))
rlm@363:     (.setShadowMode RenderQueue$ShadowMode/Receive)
rlm@363:   ))
rlm@363: 
rlm@363: 
rlm@363: (defn brick-wall* []
rlm@363:   (let [node (Node. "brick-wall")]
rlm@363:     (dorun
rlm@363:      (map
rlm@363:       (comp  #(.attachChild node %) brick*)
rlm@363:        (for [y (range 10)
rlm@363: 	     x (range 4)
rlm@363: 	     z (range 1)]
rlm@363:        	    (Vector3f.
rlm@363:        	     (+ (* 2 x brick-length)
rlm@363: 		(if (even? (+ y z)) 
rlm@363: 		  (/ brick-length 4) (/ brick-length -4)))
rlm@363:        	     (+ (* brick-height (inc (* 2 y))))
rlm@363: 	     (* 2 z brick-width) ))))
rlm@363:     (.setShadowMode node RenderQueue$ShadowMode/CastAndReceive)
rlm@363:     node))
rlm@363: 
rlm@363: (import com.aurellem.capture.Capture)
rlm@363: 
rlm@363: (import java.io.File)
rlm@363: 
rlm@363: 
rlm@363: (defn brick-wall-game-run [record?]
rlm@363:   (doto
rlm@363:       (world
rlm@363:        (doto (Node.) (.attachChild (floor*))
rlm@363: 	     (.attachChild (brick-wall*))
rlm@363: 	     )
rlm@363:        {"key-f" (fn [game value] 
rlm@363: 		  (if (not value) (add-element game (brick-wall*))))
rlm@363: 	"key-space" (fire-cannon-ball )}
rlm@363:        (fn [world]
rlm@363:          (position-camera world
rlm@363:           (Vector3f. 1.382548, 4.0383573, 5.994235)
rlm@363:           (Quaternion. 0.0013082094, 0.98581666, -0.1676442, 0.0076932586))
rlm@363: 
rlm@363:          ;;(speed-up world)
rlm@363:          
rlm@363:          (if record?
rlm@363:            (Capture/captureVideo
rlm@363:             world
rlm@363:             (File.
rlm@363:              "/home/r/proj/cortex/render/gabor-1/main")))
rlm@363:            (add-camera! world (.getCamera world) no-op))
rlm@363:        (fn [& _]))     
rlm@363:     (.start)))
rlm@363: 
rlm@363: (defn convolve-practice [kernel]
rlm@363:   (let [input "/home/r/proj/cortex/render/gabor-1/main/0000032.png"
rlm@357:         
rlm@357:         
rlm@357:         output "/home/r/ppp.png"
rlm@356: 
rlm@357:         i (org.opencv.highgui.Highgui/imread input)
rlm@358: 
rlm@360:         kernel (gabor-kernel 10 1 (/ Math/PI 2) 10 0)
rlm@358: 
rlm@358:         new-mat (Mat.)
rlm@358:                 
rlm@357:         ]
rlm@356: 
rlm@360:     (org.opencv.imgproc.Imgproc/filter2D  i new-mat CvType/CV_32F kernel)
rlm@358:     
rlm@358:     (org.opencv.highgui.Highgui/imwrite "/home/r/ppp.png" new-mat)
rlm@358:     
rlm@357:     (view (ImagePlus. input))
rlm@361:     (view (ImagePlus. output))))
rlm@357: 
rlm@363: 
rlm@363: 
rlm@363: (defn generate-gabor-images []
rlm@363:   (gabor-kernel 2.8 1 0 3.5 0)
rlm@363: 
rlm@363: 
rlm@363: 
rlm@363: 
rlm@356: #+end_src
rlm@356: 
rlm@356: 
rlm@356: 
rlm@356: * COMMENT Generate Source
rlm@356: #+begin_src clojure :tangle ../src/cortex/gabor.clj
rlm@356: <<gabor>>
rlm@356: #+end_src