# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1327133315 25200
# Node ID 1261444da2c73ed9548e37bec691a23cfd9fbe99
# Parent  94c005f7f9ddcfe5375e92633629e1d9ce9fd3da
got rough vision pipeline working

diff -r 94c005f7f9dd -r 1261444da2c7 assets/Models/creature1/retina-UV-small.png
Binary file assets/Models/creature1/retina-UV-small.png has changed
diff -r 94c005f7f9dd -r 1261444da2c7 assets/Models/creature1/retina-small.png
Binary file assets/Models/creature1/retina-small.png has changed
diff -r 94c005f7f9dd -r 1261444da2c7 assets/Models/creature1/retina-small.xcf
Binary file assets/Models/creature1/retina-small.xcf has changed
diff -r 94c005f7f9dd -r 1261444da2c7 assets/Models/creature1/try-again.blend
Binary file assets/Models/creature1/try-again.blend has changed
diff -r 94c005f7f9dd -r 1261444da2c7 org/test-creature.org
--- a/org/test-creature.org	Fri Jan 20 05:47:56 2012 -0700
+++ b/org/test-creature.org	Sat Jan 21 01:08:35 2012 -0700
@@ -83,7 +83,11 @@
           width (- (apply max xs) x0)
           height (- (apply max ys) y0)
           image (BufferedImage. (inc width) (inc height)
-                                BufferedImage/TYPE_BYTE_BINARY)]
+                                BufferedImage/TYPE_4BYTE_ABGR)]
+      (dorun
+       (for [x (range (.getWidth image))
+             y (range (.getHeight image))]
+         (.setRGB image x y 0xFFFF0000)))
       (dorun 
        (for [index (range (count points))]
          (.setRGB image (- (xs index) x0) (- (ys index) y0) -1)))
@@ -736,25 +740,50 @@
        (controlRender [_ _])))))
 
 
-(defn attach-eyes
-  "For each eye in the creature, attach a Camera to the appropiate
-   area and return the Camera."
-  [#^Node creature]
-  (for [eye (creature-eyes creature)]
-    (let [target (eye-target creature eye)
-          [cam-width cam-height] (eye-dimensions eye)
-          cam (Camera. cam-width cam-height)]
-      (.setLocation cam (.getWorldTranslation eye))
-      (.setRotation cam (.getWorldRotation eye))
-      
-      )
-      
-      
-))
-  
+(defn attach-eye
+  "Attach a Camera to the appropiate area and return the Camera."
+  [#^Node creature #^Spatial eye]
+
+  (let [target (eye-target creature eye)
+        [cam-width cam-height] (eye-dimensions eye)
+        cam (Camera. cam-width cam-height)]
+    (.setLocation cam (.getWorldTranslation eye))
+    (.setRotation cam (.getWorldRotation eye))
+    (bind-camera target cam)
+    cam))
+
+
+(def presets
+  {:gray identity})
+
+(defn enable-vision
+  "return [init-function sensor-functions] for a particular eye"
+  [#^Node creature #^Spatial eye & {skip :skip :or {skip 0}}]
+  (let [retinal-map (retina-sensor-image eye)
+        vision-image (atom nil)
+        camera (attach-eye creature eye)]
+    [
+    (fn [world]
+      (add-eye
+       world camera
+       (let [counter  (atom 0)]
+         (fn [r fb bb bi]
+           (if (zero? (rem (swap! counter inc) (inc skip)))
+             (reset! vision-image (BufferedImage! r fb bb bi)))))))
+    (vector
+     (let [whites (white-coordinates (:gray retinal-map))
+           topology (vec (collapse whites))]
+     (fn []
+       (vector
+        topology
+        (vec 
+         (for [[x y] whites]
+           (.getRGB @vision-image x y)))))))
+    ]))
+
 (defn vision
 
-  ;; need to create a camera based on uv image,
+  ;; need to create a camera based on UV image,
   ;; update this camera every frame based on the position of this
   ;; geometry. (maybe can get cam to follow the object)
 
@@ -798,6 +827,20 @@
                       1 -1} (sensor-data i)))))
         (vi image)))))
 
+(defn debug-vision-window
+  "creates function that offers a debug view of sensor data"
+  []
+  (let [vi (view-image)]
+    (fn 
+      [[coords sensor-data]]
+      (let [image (points->image coords)]
+        (dorun
+         (for [i (range (count coords))]
+           (.setRGB image ((coords i) 0) ((coords i) 1)
+                   (sensor-data i))))
+        (vi image)))))
+
+
 
 ;;(defn test-touch [world creature]
 
@@ -812,17 +855,30 @@
         creature (blender-creature thing)
         touch-nerves (touch creature)
         touch-debug-windows (map (fn [_] (debug-window)) touch-nerves)
+        [init-vision [vision-data]]
+        (enable-vision creature (test-eye))
+        vision-debug (debug-vision-window)
+        me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
         ]
   (world
    (nodify [creature
             (box 10 2 10 :position (Vector3f. 0 -9 0)
                  :color ColorRGBA/Gray :mass 0)
             x-axis y-axis z-axis
+            me
             ])
    standard-debug-controls
    (fn [world]
      (light-up-everything world)
      (enable-debug world)
+     (init-vision world)
+     
+     (add-eye world
+              (attach-eye creature (test-eye))
+              (comp (view-image) BufferedImage!))
+     
+     (add-eye world (.getCamera world) no-op)
+     
      ;;(com.aurellem.capture.Capture/captureVideo
      ;; world (file-str "/home/r/proj/ai-videos/hand"))
      ;;(.setTimer world (RatchetTimer. 60))
@@ -837,7 +893,10 @@
       (map #(%1 (%2 (.getRootNode world)))
            touch-debug-windows touch-nerves)
      )
-
+     ;;(println-repl (vision-data))
+     (.setLocalTranslation me (.getLocation (.getCamera world)))
+     
+     (vision-debug (vision-data))
      )
    ;;(let [timer (atom 0)]
    ;;  (fn [_ _]
@@ -918,6 +977,7 @@
                      :position (Vector3f. 0 10 0)
                      :mass 30
                      )
+        rot (.getWorldRotation rock)
         
         table (box 3 1 10 :color ColorRGBA/Gray :mass 0
                    :position (Vector3f. 0 -3 0))]
@@ -937,8 +997,9 @@
                  (add-eye world cam (comp (view-image) BufferedImage!))
                  (add-eye world (.getCamera world) no-op))
                )
-             no-op)))
+             (fn [_ _] (println-repl rot)))))
        
+
 #+end_src
 
 #+results: body-1