// Function used to take control of the world rendering camera.
public void mountCameraOnVehicle()
{
UI.Notify("Mounting camera to the vehicle.");
if (Game.Player.Character.IsInVehicle())
{
if (activeCameraIndex == -1)
{
UI.Notify("Mounting free camera");
CamerasList.ActivateMainCamera();
}
else if (activeCameraIndex == -2)
{
UI.Notify("Mounting free camera");
CamerasList.ActivateGameplayCamera();
}
else
{
UI.Notify("Mounting camera from list");
UI.Notify("My current rotation: " + Game.Player.Character.CurrentVehicle.Rotation);
Logger.WriteLine("My current rotation: " + Game.Player.Character.CurrentVehicle.Rotation);
activeCamera = CamerasList.ActivateCamera(activeCameraIndex);
}
}
else
{
UI.Notify("Please enter a vehicle.");
}
}
private void GatherData(int delay = 50)
{
Game.TimeScale = 0.005f;
var dateTimeFormat = @"yyyy-MM-dd--HH-mm-ss--fff";
var guid = Guid.NewGuid();
Logger.WriteLine("generated scene guid: " + guid);
if (useMultipleCameras)
{
for (var i = 0; i < CamerasList.cameras.Count; i++)
{
Logger.WriteLine("activating camera " + i);
CamerasList.ActivateCamera(i);
Wait(delay);
GatherDatForOneCamera(dateTimeFormat, guid);
}
CamerasList.Deactivate();
}
else
{
// when multiple cameras are not used, only main camera is being used.
// now it checks if it is active or not, and sets it
if (!CamerasList.mainCamera.IsActive)
{
CamerasList.ActivateMainCamera();
}
GatherDatForOneCamera(dateTimeFormat, guid);
}
Wait(delay);
}
public VisionExport()
{
// loading ini file
var parser = new FileIniDataParser();
location = AppDomain.CurrentDomain.BaseDirectory;
var data = parser.ReadFile(Path.Combine(location, "GTAVision.ini"));
//UINotify(ConfigurationManager.AppSettings["database_connection"]);
dataPath = data["Snapshots"]["OutputDir"];
logFilePath = data["Snapshots"]["LogFile"];
Logger.logFilePath = logFilePath;
Logger.WriteLine("VisionExport constructor called.");
if (!Directory.Exists(dataPath))
{
Directory.CreateDirectory(dataPath);
}
PostgresExport.InitSQLTypes();
player = Game.Player;
server = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
server.Bind(new IPEndPoint(IPAddress.Loopback, 5555));
server.Listen(5);
//server = new UdpClient(5555);
//outputPath = @"D:\Datasets\GTA\";
//outputPath = Path.Combine(outputPath, "testData.yaml");
//outStream = File.CreateText(outputPath);
this.Tick += new EventHandler(this.OnTick);
this.KeyDown += OnKeyDown;
Interval = 50;
if (enabled)
{
postgresTask?.Wait();
postgresTask = StartSession();
runTask?.Wait();
runTask = StartRun();
}
Logger.WriteLine("Logger prepared");
UINotify("Logger initialized. Going to initialize cameras.");
CamerasList.initialize();
initialize4cameras();
// var newCamera = World.CreateCamera(new Vector3(), new Vector3(), 50);
// newCamera.NearClip = 0.15f;
// newCamera.IsActive = true;
// newCamera.Position = new Vector3(-1078f, -216f, 37f);
//// newCamera.Rotation = new Vector3(270f, 0f, 0f); // x and y rotation seem to be switched. Can be fixed by setting the last parameter to 2
// newCamera.Rotation = new Vector3(0f, 270f, 0f); // x and y rotation seem to be switched. Can be fixed by setting the last parameter to 2
// World.RenderingCamera = newCamera;
// {-1078,-216,37}
// CamerasList.setMainCamera(new Vector3(358f, -1308f, 52f), new Vector3(0f, 90f, 0f), 150, 0.15f);
UINotify("VisionExport plugin initialized.");
}
private void InitializeCameras()
{
CamerasList.setMainCamera();
CamerasList.addCamera(new Vector3(0f, 0f, 2.5626f), new Vector3(0f, 0f, 0f), 65, 0.15f);
CamerasList.addCamera(new Vector3(0f, 0f, 2.5626f), new Vector3(0f, 0f, 90f), 65, 0.15f);
CamerasList.addCamera(new Vector3(0f, 0f, 2.5626f), new Vector3(0f, 0f, 180f), 65, 0.15f);
CamerasList.addCamera(new Vector3(0f, 0f, 2.5626f), new Vector3(0f, 0f, 270f), 65, 0.15f);
}
public VisionExport()
{
// loading ini file
var parser = new FileIniDataParser();
Location = AppDomain.CurrentDomain.BaseDirectory;
var data = parser.ReadFile(Path.Combine(Location, "GTAVision.ini"));
dataPath = data["Snapshots"]["OutputDir"];
LogFilePath = data["Snapshots"]["LogFile"];
everyNth = int.Parse(data["Snapshots"]["EveryNth"]);
ticked = 0;
Logger.logFilePath = LogFilePath;
Logger.WriteLine("VisionExport constructor called.");
if (!Directory.Exists(dataPath))
{
Directory.CreateDirectory(dataPath);
}
PostgresExport.InitSQLTypes();
Tick += OnTick;
KeyDown += OnKeyDown;
Interval = 100;
if (enabled)
{
postgresTask?.Wait();
postgresTask = StartSession();
runTask?.Wait();
runTask = StartRun();
}
Logger.WriteLine("Logger prepared");
UI.Notify("Logger initialized. Going to initialize cameras.");
CamerasList.initialize();
InitializeCameras();
UI.Notify("VisionExport plugin initialized.");
}
private void gatherData(int delay = 5)
{
if (clearEverything)
{
ClearSurroundingEverything(Game.Player.Character.Position, 1000f);
}
Wait(100);
var dateTimeFormat = @"yyyy-MM-dd--HH-mm-ss--fff";
var guid = Guid.NewGuid();
Logger.WriteLine("generated scene guid: " + guid.ToString());
if (useMultipleCameras)
{
for (var i = 0; i < CamerasList.cameras.Count; i++)
{
Logger.WriteLine("activating camera " + i.ToString());
CamerasList.ActivateCamera(i);
gatherDatForOneCamera(dateTimeFormat, guid);
Wait(delay);
}
CamerasList.Deactivate();
}
else
{
// when multiple cameras are not used, only main camera is being used.
// now it checks if it is active or not, and sets it
if (!CamerasList.mainCamera.IsActive)
{
CamerasList.ActivateMainCamera();
}
gatherDatForOneCamera(dateTimeFormat, guid);
}
}
// Function used to allows the user original control of the camera.
public void restoreCamera()
{
UI.Notify("Relinquishing control");
CamerasList.Deactivate();
}
public void OnKeyDown(object o, KeyEventArgs k)
{
// Logger.WriteLine("VisionExport OnKeyDown called.");
switch (k.KeyCode)
{
case Keys.PageUp:
postgresTask?.Wait();
postgresTask = StartSession();
runTask?.Wait();
runTask = StartRun();
UINotify("GTA Vision Enabled");
// there is set weather, just for testing
World.Weather = wantedWeather;
break;
case Keys.PageDown:
if (staticCamera)
{
CamerasList.Deactivate();
}
StopRun();
StopSession();
UINotify("GTA Vision Disabled");
break;
// temp modification
case Keys.H:
EnterVehicle();
UINotify("Trying to enter vehicle");
ToggleNavigation();
break;
// temp modification
case Keys.Y:
ReloadGame();
break;
// temp modification
case Keys.X:
notificationsAllowed = !notificationsAllowed;
if (notificationsAllowed)
{
UI.Notify("Notifications Enabled");
}
else
{
UI.Notify("Notifications Disabled");
}
break;
// temp modification
case Keys.U:
var settings = ScriptSettings.Load("GTAVisionExport.xml");
var loc = AppDomain.CurrentDomain.BaseDirectory;
//UINotify(ConfigurationManager.AppSettings["database_connection"]);
var str = settings.GetValue("", "ConnectionString");
UINotify("BaseDirectory: " + loc);
UINotify("ConnectionString: " + str);
break;
// temp modification
case Keys.G:
/*
* IsGamePaused = true;
* Game.Pause(true);
* Script.Wait(500);
* TraverseWeather();
* Script.Wait(500);
* IsGamePaused = false;
* Game.Pause(false);
*/
GTAData data;
if (multipleWeathers)
{
data = GTAData.DumpData(Game.GameTime + ".tiff", wantedWeathers.ToList());
}
else
{
Weather weather = currentWeather ? GTA.World.Weather : wantedWeather;
data = GTAData.DumpData(Game.GameTime + ".tiff", weather);
}
string path = @"D:\GTAV_extraction_output\trymatrix.txt";
// This text is added only once to the file.
if (!File.Exists(path))
{
// Create a file to write to.
using (StreamWriter file = File.CreateText(path)) {
file.WriteLine("cam direction file");
file.WriteLine("direction:");
file.WriteLine(
$"{World.RenderingCamera.Direction.X} {World.RenderingCamera.Direction.Y} {World.RenderingCamera.Direction.Z}");
file.WriteLine("Dot Product:");
file.WriteLine(Vector3.Dot(World.RenderingCamera.Direction, World.RenderingCamera.Rotation));
file.WriteLine("position:");
file.WriteLine(
$"{World.RenderingCamera.Position.X} {World.RenderingCamera.Position.Y} {World.RenderingCamera.Position.Z}");
file.WriteLine("rotation:");
file.WriteLine(
$"{World.RenderingCamera.Rotation.X} {World.RenderingCamera.Rotation.Y} {World.RenderingCamera.Rotation.Z}");
file.WriteLine("relative heading:");
file.WriteLine(GameplayCamera.RelativeHeading.ToString());
file.WriteLine("relative pitch:");
file.WriteLine(GameplayCamera.RelativePitch.ToString());
file.WriteLine("fov:");
file.WriteLine(GameplayCamera.FieldOfView.ToString());
}
}
break;
// temp modification
case Keys.T:
World.Weather = Weather.Raining;
/* set it between 0 = stop, 1 = heavy rain. set it too high will lead to sloppy ground */
Function.Call(Hash._SET_RAIN_FX_INTENSITY, 0.5f);
var test = Function.Call <float>(Hash.GET_RAIN_LEVEL);
UINotify("" + test);
World.CurrentDayTime = new TimeSpan(12, 0, 0);
//Script.Wait(5000);
break;
case Keys.N:
UINotify("N pressed, going to take screenshots");
startRunAndSessionManual();
postgresTask?.Wait();
runTask?.Wait();
UINotify("starting screenshots");
for (int i = 0; i < 2; i++)
{
GamePause(true);
gatherData(100);
GamePause(false);
Script.Wait(200); // hoping game will go on during this wait
}
if (staticCamera)
{
CamerasList.Deactivate();
}
StopRun();
StopSession();
break;
case Keys.OemMinus: //to tlačítko vlevo od pravého shiftu, -
UINotify("- pressed, going to rotate cameras");
Game.Pause(true);
for (int i = 0; i < CamerasList.cameras.Count; i++)
{
Logger.WriteLine($"activating camera {i}");
CamerasList.ActivateCamera(i);
Script.Wait(1000);
}
CamerasList.Deactivate();
Game.Pause(false);
break;
case Keys.I:
var info = new GTAVisionUtils.InstanceData();
UINotify(info.type);
UINotify(info.publichostname);
break;
case Keys.Divide:
Logger.WriteLine($"{World.GetGroundHeight(Game.Player.Character.Position)} is the current player ({Game.Player.Character.Position}) ground position.");
var startRect = OffroadPlanning.GetRandomRect(OffroadPlanning.GetRandomArea());
var start = OffroadPlanning.GetRandomPoint(startRect);
var startZ = World.GetGroundHeight(new Vector2(start.X, start.Y));
Logger.WriteLine($"{startZ} is the ground position of {start}.");
// OffroadPlanning.setNextStart();
startRect = OffroadPlanning.GetRandomRect(OffroadPlanning.GetRandomArea());
start = OffroadPlanning.GetRandomPoint(startRect);
somePos = start;
startZ = World.GetGroundHeight(new Vector2(start.X, start.Y));
Logger.WriteLine($"{startZ} is the ground position of {start}.");
// when I use the same position, the GetGroundHeight call takes coordinates of player as ground height
Game.Player.Character.Position = new Vector3(start.X + 5, start.Y + 5, 800);
Logger.WriteLine($"teleporting player above teh position.");
Script.Wait(50);
startZ = World.GetGroundHeight(new Vector2(start.X, start.Y));
Logger.WriteLine($"{startZ} is the ground position of {start}.");
Logger.WriteLine($"{World.GetGroundHeight(Game.Player.Character.Position)} is the current player ({Game.Player.Character.Position}) ground position.");
Logger.ForceFlush();
break;
case Keys.F12:
Logger.WriteLine($"{World.GetGroundHeight(Game.Player.Character.Position)} is the current player ({Game.Player.Character.Position}) ground position.");
Logger.WriteLine($"{World.GetGroundHeight(somePos)} is the {somePos} ground position.");
break;
case Keys.F11:
Model mod = new Model(GTAConst.OffroadVehicleHash);
var player = Game.Player;
var vehicle = World.CreateVehicle(mod, player.Character.Position);
player.Character.SetIntoVehicle(vehicle, VehicleSeat.Driver);
break;
case Keys.F10:
startRect = OffroadPlanning.GetRandomRect(OffroadPlanning.GetRandomArea());
start = OffroadPlanning.GetRandomPoint(startRect);
somePos = start;
startZ = World.GetGroundHeight(new Vector2(start.X, start.Y));
Logger.WriteLine($"{startZ} is the ground position of {start}.");
for (int i = 900; i > 100; i -= 50)
{
// when I use the same position, the GetGroundHeight call takes coordinates of player as ground height
Game.Player.Character.Position = new Vector3(start.X + 5, start.Y + 5, i);
Logger.WriteLine($"teleporting player above teh position to height {i}.");
Script.Wait(500);
startZ = World.GetGroundHeight(new Vector2(start.X, start.Y));
Logger.WriteLine($"{startZ} is the ground position of {start}.");
}
break;
case Keys.F9:
//turn on and off for datagathering during driving, mostly for testing offroad
gatheringData = !gatheringData;
if (gatheringData)
{
UI.Notify("will be gathering data");
}
else
{
UI.Notify("won't be gathering data");
}
break;
}
}
private void initialize4cameras()
{
// cameras initialization:
// for cameras mapping area before the car
// float r = 8f; //radius of circle with 4 cameras
// CamerasList.setMainCamera();
// CamerasList.addCamera(new Vector3(0f, 2f, 0.4f), new Vector3(0f, 0f, 0f), 50, 1.5f);
// CamerasList.addCamera(new Vector3(r, r + 2f, 0.4f), new Vector3(0f, 0f, 90f), 50, 1.5f);
// CamerasList.addCamera(new Vector3(0f, 2*r + 2f, 0.4f), new Vector3(0f, 0f, 180f), 50, 1.5f);
// CamerasList.addCamera(new Vector3(-r, r + 2f, 0.4f), new Vector3(0f, 0f, 270f), 50, 1.5f);
//// for 4 cameras of different sides of the car, for šochman
// CamerasList.setMainCamera();
// CamerasList.addCamera(new Vector3(0f, 2f, 0.3f), new Vector3(0f, 0f, 0f), 50, 0.15f);
// CamerasList.addCamera(new Vector3(-0.8f, 0.8f, 0.4f), new Vector3(0f, 0f, 90f), 50, 0.15f);
// CamerasList.addCamera(new Vector3(0f, -2.3f, 0.3f), new Vector3(0f, 0f, 180f), 50, 0.15f);
// CamerasList.addCamera(new Vector3(0.8f, 0.8f, 0.4f), new Vector3(0f, 0f, 270f), 50, 0.15f);
// for 4 cameras on top of car, heading 4 directions
// CamerasList.setMainCamera();
// CamerasList.addCamera(new Vector3(0f, 0f, 1f), new Vector3(0f, 0f, 0f), 58, 0.15f);
// CamerasList.addCamera(new Vector3(0f, 0f, 1f), new Vector3(0f, 0f, 90f), 58, 0.15f);
// CamerasList.addCamera(new Vector3(0f, 0f, 1f), new Vector3(0f, 0f, 180f), 58, 0.15f);
// CamerasList.addCamera(new Vector3(0f, 0f, 1f), new Vector3(0f, 0f, 270f), 58, 0.15f);
// set only main camera for static traffic camera
// CamerasList.setMainCamera(new Vector3(-1078f, -216f, 57f), new Vector3(270f, 0f, 0f), 50, 0.15f);
//// two "cameras", as in KITTI dataset, so we have 4-camera setup in stereo
//// for cameras mapping area before the car
// CamerasList.setMainCamera();
// const float r = 8f; //radius of circle with 4 cameras
// // this height is for 1.65 m above ground, as in KITTI. The car has height of model ASEA is 1.5626, its center is in 0.5735 above ground
// var carCenter = 0.5735f;
// var camOne = new Vector3(-0.06f, 0.27f, 1.65f - carCenter);
// var camTwo = new Vector3(-0.06f+0.54f, 0.27f, 1.65f - carCenter);
// CamerasList.addCamera(camOne + new Vector3(0f, 0f, 0f), new Vector3(0f, 0f, 0f), 50, 0.15f);
// CamerasList.addCamera(camOne + new Vector3(r, r, 0f), new Vector3(0f, 0f, 90f), 50, 0.15f);
// CamerasList.addCamera(camOne + new Vector3(0, 2*r, 0f), new Vector3(0f, 0f, 180f), 50, 0.15f);
// CamerasList.addCamera(camOne + new Vector3(-r, r, 0f), new Vector3(0f, 0f, 270f), 50, 0.15f);
//// 4 camera layout from 1 camera should be ernough to reconstruct 3D map for both cameras
// CamerasList.addCamera(camTwo + new Vector3(0f, 0f, 0f), new Vector3(0f, 0f, 0f), 50, 0.15f);
//// CamerasList.addCamera(camTwo + new Vector3(r, r, 0f), new Vector3(0f, 0f, 90f), 50, 0.15f);
//// CamerasList.addCamera(camTwo + new Vector3(0, 2*r, 0f), new Vector3(0f, 0f, 180f), 50, 0.15f);
//// CamerasList.addCamera(camTwo + new Vector3(-r, r, 0f), new Vector3(0f, 0f, 270f), 50, 0.15f);
//// and now, one camera from birds-eye view, with this configuration, it sees all other cameras
// CamerasList.addCamera(camOne + new Vector3(0, r, r + 4), new Vector3(270f, 0f, 0f), 70, 0.15f);
//// two "cameras", as in KITTI dataset, so we have 4-camera setup in stereo, but for offroad car, specifically, for Mesa
//// for cameras mapping area before the car
//// KITTI images have ratio of 3.32, they are very large and thus have large horizontal fov. This ratio can not be obtained here
//// so I set higher vertical fov and image may be then cropped into KITTI-like one
// CamerasList.setMainCamera();
// const float r = 8f; //radius of circle with 4 cameras
// // this height is for 1.65 m above ground, as in KITTI. The car has height of model ASEA is 1.5626, its center is in 0.5735 above ground
// var carCenter = 0.5735f;
// var camOne = new Vector3(-0.06f, 1.5f, 1.65f - carCenter);
// var camTwo = new Vector3(-0.06f+0.54f, 1.5f, 1.65f - carCenter);
// CamerasList.addCamera(camOne + new Vector3(0f, 0f, 0f), new Vector3(0f, 0f, 0f), 90, 0.15f);
// CamerasList.addCamera(camOne + new Vector3(r, r, 0f), new Vector3(0f, 0f, 90f), 90, 0.15f);
// CamerasList.addCamera(camOne + new Vector3(0, 2*r, 0f), new Vector3(0f, 0f, 180f), 90, 0.15f);
// CamerasList.addCamera(camOne + new Vector3(-r, r, 0f), new Vector3(0f, 0f, 270f), 90, 0.15f);
//// 4 camera layout from 1 camera should be ernough to reconstruct 3D map for both cameras
// CamerasList.addCamera(camTwo + new Vector3(0f, 0f, 0f), new Vector3(0f, 0f, 0f), 90, 0.15f);
//// CamerasList.addCamera(camTwo + new Vector3(r, r, 0f), new Vector3(0f, 0f, 90f), 50, 0.15f);
//// CamerasList.addCamera(camTwo + new Vector3(0, 2*r, 0f), new Vector3(0f, 0f, 180f), 50, 0.15f);
//// CamerasList.addCamera(camTwo + new Vector3(-r, r, 0f), new Vector3(0f, 0f, 270f), 50, 0.15f);
//// and now, one camera from birds-eye view, with this configuration, it sees all other cameras
// CamerasList.addCamera(camOne + new Vector3(0, r, r + 4), new Vector3(270f, 0f, 0f), 70, 0.15f);
// na 32 metrů průměr, výš a natočit dolů
// two "cameras", as in KITTI dataset, so we have 4-camera setup in stereo, but for offroad car, specifically, for Mesa
// for cameras mapping area before the car
// KITTI images have ratio of 3.32, they are very large and thus have large horizontal fov. This ratio can not be obtained here
// so I set higher vertical fov and image may be then cropped into KITTI-like one
CamerasList.setMainCamera();
const float r = 16f; //radius of circle with 4 cameras
// this height is for 1.65 m above ground, as in KITTI. The car has height of model ASEA is 1.5626, its center is in 0.5735 above ground
var carCenter = 0.5735f;
var camOne = new Vector3(-0.06f, 1.5f, 1.65f - carCenter);
var camTwo = new Vector3(-0.06f + 0.54f, 1.5f, 1.65f - carCenter);
CamerasList.addCamera(camOne + new Vector3(0f, 0f, 0f), new Vector3(0f, 0f, 0f), 90, 0.15f);
CamerasList.addCamera(camOne + new Vector3(r, r, 5f), new Vector3(-30f, 0f, 90f), 90, 0.15f);
CamerasList.addCamera(camOne + new Vector3(0, 2 * r, 5f), new Vector3(-30f, 0f, 180f), 90, 0.15f);
CamerasList.addCamera(camOne + new Vector3(-r, r, 5f), new Vector3(-30f, 0f, 270f), 90, 0.15f);
// 4 camera layout from 1 camera should be ernough to reconstruct 3D map for both cameras
CamerasList.addCamera(camTwo + new Vector3(0f, 0f, 0f), new Vector3(0f, 0f, 0f), 90, 0.15f);
// and now, one camera from birds-eye view, with this configuration, it sees all other cameras
CamerasList.addCamera(camOne + new Vector3(0, r, r + 8), new Vector3(270f, 0f, 90f), 70, 0.15f); //to have bigger view of area in front of and behind car
}
