# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1327036126 25200
# Node ID a980462ebe76dfc001a7c7cb1e30323b9bc77cd8
# Parent  128fa71ee188801c63fae4b2ddd378fbd118159a
more lazy/functional version of eyes

diff -r 128fa71ee188 -r a980462ebe76 org/eyes.org
--- a/org/eyes.org	Thu Jan 19 11:29:46 2012 -0700
+++ b/org/eyes.org	Thu Jan 19 22:08:46 2012 -0700
@@ -20,21 +20,23 @@
   {:author "Robert McIntyre"}
   (:use cortex.world)
   (:import com.jme3.post.SceneProcessor)
-  (:import (com.jme3.util BufferUtils))
+  (:import (com.jme3.util BufferUtils Screenshots))
   (:import java.nio.ByteBuffer)
   (:import java.awt.image.BufferedImage)
   (:import com.jme3.renderer.ViewPort)
-  (:import com.jme3.math.ColorRGBA))
+  (:import com.jme3.math.ColorRGBA)
+  (:import com.jme3.renderer.Renderer))
 
-(defn scene-processor
+
+(defn vision-pipeline
   "Create a SceneProcessor object which wraps a vision processing
-  continuation function. The SceneProcessor will take care of
-  converting the rendered frame to a BufferedImage and passing that
-  BufferedImage to the continuation.  The continuation should be a
-  function that takes a ByteBuffer which represents the image."
+  continuation function. The continuation is a function that takes 
+  [#^Renderer r #^FrameBuffer fb #^ByteBuffer b #^BufferedImage bi],
+  each of which has already been appropiately sized."
   [continuation]
   (let [byte-buffer (atom nil)
-	renderer (atom nil)]
+	renderer (atom nil)
+        image (atom nil)]
   (proxy [SceneProcessor] []
     (initialize
      [renderManager viewPort]
@@ -44,7 +46,10 @@
        (reset! renderer (.getRenderer renderManager))
        (reset! byte-buffer
 	     (BufferUtils/createByteBuffer
-	      (* width height 4)))))
+	      (* width height 4)))
+        (reset! image (BufferedImage.
+                      width height
+                      BufferedImage/TYPE_4BYTE_ABGR))))
     (isInitialized [] (not (nil? @byte-buffer)))
     (reshape [_ _ _])
     (preFrame [_])
@@ -52,16 +57,27 @@
     (postFrame
      [#^FrameBuffer fb]
      (.clear @byte-buffer)
-     ;;(.readFrameBuffer @renderer fb @byte-buffer)
-     (continuation @byte-buffer))
+     (continuation @renderer fb @byte-buffer @image))
     (cleanup []))))
     
-(defn buffer->image! [width height]
-  (let [image (BufferedImage. width height
-                              BufferedImage/TYPE_4BYTE_ABGR)]
-    (fn [byte-buffer]
-      (Screenshots/convertScreenShot byte-buffer image)
-      image)))
+(defn frameBuffer->byteBuffer!
+  "Transfer the data in the graphics card (Renderer, FrameBuffer) to
+   the CPU (ByteBuffer)."  
+  [#^Renderer r #^FrameBuffer fb #^ByteBuffer bb]
+  (.readFrameBuffer r fb bb) bb)
+
+(defn byteBuffer->bufferedImage!
+  "Convert the C-style BGRA image data in the ByteBuffer bb to the AWT
+   style ABGR image data and place it in BufferedImage bi."
+  [#^ByteBuffer bb #^BufferedImage bi]
+  (Screenshots/convertScreenShot bb bi) bi)
+
+(defn BufferedImage!
+  "Continuation which will grab the buffered image from the materials
+   provided by (vision-pipeline)."
+  [#^Renderer r #^FrameBuffer fb #^ByteBuffer bb #^BufferedImage bi]
+  (byteBuffer->bufferedImage!
+   (frameBuffer->byteBuffer! r fb bb) bi))
 
 (defn add-eye
   "Add an eye to the world, calling continuation on every frame
@@ -74,7 +90,7 @@
     (doto viewport
       (.setClearFlags true true true)
       (.setBackgroundColor ColorRGBA/Black)
-      (.addProcessor (scene-processor continuation))
+      (.addProcessor (vision-pipeline continuation))
       (.attachScene (.getRootNode world)))))
 #+end_src
 
@@ -101,8 +117,7 @@
   (:import javax.swing.JFrame)
   (:import com.jme3.math.ColorRGBA)
   (:import com.jme3.scene.Node)
-  (:import com.jme3.math.Vector3f)
-  (:import (com.jme3.util Screenshots)))
+  (:import com.jme3.math.Vector3f))
 
 (defn view-image
   "Initailizes a JPanel on which you may draw a BufferedImage.
@@ -152,18 +167,15 @@
              width (.getWidth cam)
              height (.getHeight cam)]
          (add-eye world cam 
-                  no-op
-                  ;;(comp (view-image) (buffer->image! width height))
+                  ;;no-op
+                  (comp (view-image) BufferedImage!)
                   )
          (add-eye world
                   (doto (.clone cam)
                     (.setLocation (Vector3f. -10 0 0))
                     (.lookAt Vector3f/ZERO Vector3f/UNIT_Y))
-                  no-op
-                  ;;(comp (view-image) (buffer->image! width height))
-                  )
-         
-         
+                  ;;no-op
+                  (comp (view-image) BufferedImage!))
          ;; This is here to restore the main view
          ;; after the other views have completed processing
          (add-eye world (.getCamera world) no-op)))