def __init__(self,
# OpenSceneGraph parameters
model_path=None,
scale=1.0,
zmin=0.001,
zmax=1e10,
cuberes=64,
# EMD parameters
hz=200.0,
earlyvis_ba = None, # early vision filter (can be None)
early_contrast_saturation_params=None,
emd_lp_ba = None, # EMD arm 2
emd_hp_ba = None, # EMD arm 1 (can be None)
subtraction_imbalance = 1.0,
# mean_luminance_value = 127.5,
# other simulation parameters
skybox_basename=fsee.default_skybox,
full_spectrum=False,
optics=None,
do_luminance_adaptation=None,
plot_realtime=False
):
# AC: This is initialized only if we want to use it (later)
# self.rp = RapidPlotter(optics=optics)
self.rp = None
self.plot_realtime = plot_realtime
self.optics = optics
self.cubemap_face_xres=cuberes
self.cubemap_face_yres=cuberes
self.sim = Simulation.Simulation(
model_path=model_path,
scale=scale,
skybox_basename=skybox_basename,
zmin=zmin,
zmax=zmax,
xres=self.cubemap_face_xres,
yres=self.cubemap_face_yres,
)
## self.nodes = [world_node,
## self.sim.get_root_node(),
## self.sim.get_skybox_node(),
## ]
## self.nodes2names = {world_node:'world',
## self.sim.get_root_node():'root',
## self.sim.get_skybox_node():'skybox',
## }
## self.nodes2vels = {world_node:cgtypes.vec3(0,0,0),
## self.sim.get_root_node():cgtypes.vec3(0,0,0),
## self.sim.get_skybox_node():None, # no relative translation
## }
self.cvs = CoreVisualSystem(hz=hz,
cubemap_face_xres=self.cubemap_face_xres,
cubemap_face_yres=self.cubemap_face_yres,
earlyvis_ba = earlyvis_ba,
early_contrast_saturation_params=early_contrast_saturation_params,
emd_lp_ba = emd_lp_ba,
emd_hp_ba = emd_hp_ba,
subtraction_imbalance=subtraction_imbalance,
debug=False,
full_spectrum=full_spectrum,
#mean_luminance_value = mean_luminance_value,
optics=optics,
do_luminance_adaptation=do_luminance_adaptation,
)
precomputed = fsee.eye_geometry.switcher.get_module_for_optics(optics=optics)
for attr in ['get_last_emd_outputs',
'get_last_retinal_imageR',
'get_last_retinal_imageG',
'get_last_retinal_imageB',
'get_last_optical_image',
'get_last_environment_map',
'save_last_environment_map',
'get_values',
'get_optics',
'full_spectrum',
]:
# 'subclassing' without subclassing
setattr(self,attr, getattr(self.cvs,attr))
#self.receptor_dirs = precomputed.receptor_dirs
#self.emd_edges =
self.emd_dirs_unrotated_quats = []
for (vi1,vi2) in precomputed.edges:
v1 = precomputed.receptor_dirs[vi1]
v2 = precomputed.receptor_dirs[vi2]
v = (v1+v2)*0.5 # average
v = v.normalize() # make unit length
self.emd_dirs_unrotated_quats.append( cgtypes.quat(0,v.x,v.y,v.z))
if self.plot_realtime:
if self.rp is None:
from fsee.eye_geometry.projected_eye_coords import RapidPlotter
self.rp = RapidPlotter(optics=self.optics)
# strictly optional - realtime plotting stuff
minx = numpy.inf
maxx = -numpy.inf
miny = numpy.inf
maxy = -numpy.inf
for num,eye_name in enumerate(self.rp.get_eye_names()):
fans = self.rp.get_tri_fans(eye_name)
x=[];y=[];f=[]
for xs_ys in fans:
if xs_ys is None:
f.append(0)
continue
xs,ys=xs_ys
x.extend( xs )
y.extend( ys )
f.append( len(xs) )
x = numpy.array(x)
y = numpy.array(y)
minx = min(minx,x.min())
maxx = max(maxx,x.max())
miny = min(miny,y.min())
maxy = max(maxy,y.max())
self.sim.set_eyemap_geometry(num, x, y, f)
magx = maxx-minx
if self.get_optics() == 'buchner71':
if self.rp.flip_lon():
self.sim.set_eyemap_projection(0, maxx, minx-0.1*magx, miny, maxy)
self.sim.set_eyemap_projection(1, maxx+0.1*magx, minx, miny, maxy)
else:
self.sim.set_eyemap_projection(0, minx-0.1*magx, maxx, miny, maxy)
self.sim.set_eyemap_projection(1, minx, maxx+0.1*magx, miny, maxy)
elif self.get_optics() == 'synthetic':
self.sim.set_eyemap_projection(0, minx-1*magx, maxx, miny, maxy)
self.sim.set_eyemap_projection(1, minx, maxx+1*magx, miny, maxy)
class Observer: # almost a sub-class of CoreVisualSystem
"""integrates visual system simulation with OpenSceneGraph
This is the 2nd generation, which can calculate retinal velocities.
It is almost a sub-class of CoreVisualSystem.
"""
def __init__(self,
# OpenSceneGraph parameters
model_path=None,
scale=1.0,
zmin=0.001,
zmax=1e10,
cuberes=64,
# EMD parameters
hz=200.0,
earlyvis_ba = None, # early vision filter (can be None)
early_contrast_saturation_params=None,
emd_lp_ba = None, # EMD arm 2
emd_hp_ba = None, # EMD arm 1 (can be None)
subtraction_imbalance = 1.0,
# mean_luminance_value = 127.5,
# other simulation parameters
skybox_basename=fsee.default_skybox,
full_spectrum=False,
optics=None,
do_luminance_adaptation=None,
plot_realtime=False
):
# AC: This is initialized only if we want to use it (later)
# self.rp = RapidPlotter(optics=optics)
self.rp = None
self.plot_realtime = plot_realtime
self.optics = optics
self.cubemap_face_xres=cuberes
self.cubemap_face_yres=cuberes
self.sim = Simulation.Simulation(
model_path=model_path,
scale=scale,
skybox_basename=skybox_basename,
zmin=zmin,
zmax=zmax,
xres=self.cubemap_face_xres,
yres=self.cubemap_face_yres,
)
## self.nodes = [world_node,
## self.sim.get_root_node(),
## self.sim.get_skybox_node(),
## ]
## self.nodes2names = {world_node:'world',
## self.sim.get_root_node():'root',
## self.sim.get_skybox_node():'skybox',
## }
## self.nodes2vels = {world_node:cgtypes.vec3(0,0,0),
## self.sim.get_root_node():cgtypes.vec3(0,0,0),
## self.sim.get_skybox_node():None, # no relative translation
## }
self.cvs = CoreVisualSystem(hz=hz,
cubemap_face_xres=self.cubemap_face_xres,
cubemap_face_yres=self.cubemap_face_yres,
earlyvis_ba = earlyvis_ba,
early_contrast_saturation_params=early_contrast_saturation_params,
emd_lp_ba = emd_lp_ba,
emd_hp_ba = emd_hp_ba,
subtraction_imbalance=subtraction_imbalance,
debug=False,
full_spectrum=full_spectrum,
#mean_luminance_value = mean_luminance_value,
optics=optics,
do_luminance_adaptation=do_luminance_adaptation,
)
precomputed = fsee.eye_geometry.switcher.get_module_for_optics(optics=optics)
for attr in ['get_last_emd_outputs',
'get_last_retinal_imageR',
'get_last_retinal_imageG',
'get_last_retinal_imageB',
'get_last_optical_image',
'get_last_environment_map',
'save_last_environment_map',
'get_values',
'get_optics',
'full_spectrum',
]:
# 'subclassing' without subclassing
setattr(self,attr, getattr(self.cvs,attr))
#self.receptor_dirs = precomputed.receptor_dirs
#self.emd_edges =
self.emd_dirs_unrotated_quats = []
for (vi1,vi2) in precomputed.edges:
v1 = precomputed.receptor_dirs[vi1]
v2 = precomputed.receptor_dirs[vi2]
v = (v1+v2)*0.5 # average
v = v.normalize() # make unit length
self.emd_dirs_unrotated_quats.append( cgtypes.quat(0,v.x,v.y,v.z))
if self.plot_realtime:
if self.rp is None:
from fsee.eye_geometry.projected_eye_coords import RapidPlotter
self.rp = RapidPlotter(optics=self.optics)
# strictly optional - realtime plotting stuff
minx = numpy.inf
maxx = -numpy.inf
miny = numpy.inf
maxy = -numpy.inf
for num,eye_name in enumerate(self.rp.get_eye_names()):
fans = self.rp.get_tri_fans(eye_name)
x=[];y=[];f=[]
for xs_ys in fans:
if xs_ys is None:
f.append(0)
continue
xs,ys=xs_ys
x.extend( xs )
y.extend( ys )
f.append( len(xs) )
x = numpy.array(x)
y = numpy.array(y)
minx = min(minx,x.min())
maxx = max(maxx,x.max())
miny = min(miny,y.min())
maxy = max(maxy,y.max())
self.sim.set_eyemap_geometry(num, x, y, f)
magx = maxx-minx
if self.get_optics() == 'buchner71':
if self.rp.flip_lon():
self.sim.set_eyemap_projection(0, maxx, minx-0.1*magx, miny, maxy)
self.sim.set_eyemap_projection(1, maxx+0.1*magx, minx, miny, maxy)
else:
self.sim.set_eyemap_projection(0, minx-0.1*magx, maxx, miny, maxy)
self.sim.set_eyemap_projection(1, minx, maxx+0.1*magx, miny, maxy)
elif self.get_optics() == 'synthetic':
self.sim.set_eyemap_projection(0, minx-1*magx, maxx, miny, maxy)
self.sim.set_eyemap_projection(1, minx, maxx+1*magx, miny, maxy)
def get_root_node(self,*args,**kw):
return self.sim.get_root_node(*args,**kw)
def step(self, pos_vec3, ori_quat):
if type(pos_vec3) != cgtypes.vec3:
pos_vec3 = cgtypes.vec3( *pos_vec3 )
if type(ori_quat) != cgtypes.quat:
ori_quat = cgtypes.quat( *ori_quat )
# calculate photoreceptors, EMDs, etc...
self.cvs.step( self.sim.get_flyview, pos_vec3, ori_quat )
self.last_pos_vec3 = pos_vec3
self.last_ori_quat = ori_quat
if self.plot_realtime:
if self.full_spectrum:
R = self.get_last_retinal_imageR()
G = self.get_last_retinal_imageG()
B = self.get_last_retinal_imageB()
else:
R = self.get_last_retinal_imageG()
G = self.get_last_retinal_imageG()
B = self.get_last_retinal_imageG()
A = numpy.ones( B.shape, dtype=numpy.float32 )
RGBA = numpy.vstack([R,G,B,A]).T
RGBA[:,:3] = RGBA[:,:3]/255.0
for num,eye_name in enumerate(self.rp.get_eye_names()):
slicer = self.rp.get_slicer( eye_name )
self.sim.set_eyemap_face_colors(num,RGBA[slicer,:])
def get_known_node_parent(self,node):
if node.getNumParents() != 1:
raise NotImplementedError('only single parents currently supported!')
parent = node.getParent(0)
if parent in self.nodes:
return parent
else:
return self.get_known_node_parent(parent)
def get_last_retinal_velocities(self, vel_vec3, angular_vel, direction='ommatidia'):
# NOTE: Both vel_vec3 and angular_vel should be in body frame
x=self.last_pos_vec3 # eye origin
q=self.last_ori_quat
qi=q.inverse()
vel_vecs = []
mu_list = []
dir_body_list = []
dir_world_list = []
if direction == 'ommatidia':
dir_body_list = self.cvs.precomputed_optics_module.receptor_dirs
for dir_body in dir_body_list:
dir_world_quat = q*cgtypes.quat(0,dir_body.x, dir_body.y, dir_body.z)*qi
dir_world_list.append(cgtypes.vec3(dir_world_quat.x,
dir_world_quat.y,
dir_world_quat.z))
elif direction == 'emds':
dir_body_quats = self.emd_dirs_unrotated_quats
for dir_body_quat in dir_body_quats:
dir_world_quat=q*dir_body_quat*qi # dir_body_quat.rotate(q)
dir_world_list.append(cgtypes.vec3(dir_world_quat.x,
dir_world_quat.y,
dir_world_quat.z))
dir_body_list.append(cgtypes.vec3(dir_body_quat.x,
dir_body_quat.y,
dir_body_quat.z))
else:
print 'ERROR: Directions need to be either ommatidia or EMDs.'
quit()
# Need a more efficient way to do this loop
for n in range(len(dir_body_list)):
dir_body = dir_body_list[n]
dir_world = dir_world_list[n]
vend = x + (dir_world*1e5) # XXX should figure out maximum length in OSG
vstart = x + (dir_world*1e-5) # avoid intesecting with the origin
rx, ry, rz, is_hit = self.sim.get_world_point(vstart, vend)
if is_hit == 1: # is_hit is always 1 in the presence of skybox
sigma = (cgtypes.vec3(rx,ry,rz) - x).length() # distance
mu = 1.0/sigma
else:
mu = 0.0 # objects are at infinity
# Use the formula in Sean Humbert's paper to calculate retinal velocity
vr = - angular_vel.cross(dir_body) - mu * (vel_vec3 - dir_body * (dir_body*vel_vec3))
# Convert vr into spherical coordinates
# Equation: cf http://en.wikipedia.org/wiki/Vector_fields_in_cylindrical_and_spherical_coordinates
sx = dir_body.x
sy = dir_body.y
sz = dir_body.z
phi = numpy.math.atan2(sy,sx)
theta = numpy.math.acos(sz)
cphi = numpy.cos(phi)
sphi = numpy.sin(phi)
ctheta = numpy.cos(theta)
stheta = numpy.sin(theta)
R = cgtypes.mat3(stheta*cphi, stheta*sphi, ctheta,
ctheta*cphi, ctheta*sphi, -stheta,
-sphi, cphi, 0) # Row-major order
vr = R*vr
# vr[0]: r (should be zero), vr[1]: theta, vr[2]: phi
vel_vecs.append([vr[1],vr[2]])
mu_list.append(mu)
return vel_vecs, mu_list