Exemple #1
0
        public static GTAData DumpData(string imageName, List <Weather> capturedWeathers)
        {
            var ret = new GTAData();

            ret.Version          = 3;
            ret.ImageName        = imageName;
            ret.CurrentWeather   = World.Weather;
            ret.CapturedWeathers = capturedWeathers;

            ret.Timestamp    = DateTime.UtcNow;
            ret.LocalTime    = World.CurrentDayTime;
            ret.Pos          = new GTAVector(GameplayCamera.Position);
            ret.CamDirection = new GTAVector(GameplayCamera.Direction);
            ret.CamFOV       = GameplayCamera.FieldOfView;
            ret.ImageWidth   = Game.ScreenResolution.Width;
            ret.ImageHeight  = Game.ScreenResolution.Height;
            //ret.Pos = new GTAVector(Game.Player.Character.Position);

            var peds = World.GetNearbyPeds(Game.Player.Character, 150.0f);
            var cars = World.GetNearbyVehicles(Game.Player.Character, 150.0f);
            //var props = World.GetNearbyProps(Game.Player.Character.Position, 300.0f);

            var constants = VisionNative.GetConstants();

            if (!constants.HasValue)
            {
                return(null);
            }
            var W  = MathNet.Numerics.LinearAlgebra.Single.DenseMatrix.OfColumnMajor(4, 4, constants.Value.world.ToArray()).ToDouble();
            var WV =
                MathNet.Numerics.LinearAlgebra.Single.DenseMatrix.OfColumnMajor(4, 4,
                                                                                constants.Value.worldView.ToArray()).ToDouble();
            var WVP =
                MathNet.Numerics.LinearAlgebra.Single.DenseMatrix.OfColumnMajor(4, 4,
                                                                                constants.Value.worldViewProjection.ToArray()).ToDouble();

            var V = WV * W.Inverse();
            var P = WVP * WV.Inverse();

            ret.ProjectionMatrix = P as DenseMatrix;
            ret.ViewMatrix       = V as DenseMatrix;

            var pedList = from ped in peds
                          where ped.IsHuman && ped.IsOnFoot
                          select new GTADetection(ped);
            var cycles = from ped in peds
                         where ped.IsOnBike
                         select new GTADetection(ped, DetectionType.bicycle);

            var vehicleList = from car in cars
                              select new GTADetection(car);

            ret.Detections = new List <GTADetection>();
            ret.Detections.AddRange(pedList);
            ret.Detections.AddRange(vehicleList);
            //ret.Detections.AddRange(cycles);

            return(ret);
        }
Exemple #2
0
        public GTADetection(Entity e, DetectionType type)
        {
            Type     = type;
            Pos      = new GTAVector(e.Position);
            Distance = Game.Player.Character.Position.DistanceTo(e.Position);
            BBox     = GTAData.ComputeBoundingBox(e, e.Position);
            Handle   = e.Handle;

            Rot = new GTAVector(e.Rotation);
            cls = DetectionClass.Unknown;
            Vector3 gmin;
            Vector3 gmax;

            e.Model.GetDimensions(out gmin, out gmax);
            BBox3D = new SharpDX.BoundingBox((SharpDX.Vector3) new GTAVector(gmin), (SharpDX.Vector3) new GTAVector(gmax));
        }
Exemple #3
0
 public GTAPed(Ped p)
 {
     Pos  = new GTAVector(p.Position);
     BBox = GTAData.ComputeBoundingBox(p, p.Position);
 }
Exemple #4
0
 public GTAVehicle(Vehicle v)
 {
     Pos  = new GTAVector(v.Position);
     BBox = GTAData.ComputeBoundingBox(v, v.Position);
 }
Exemple #5
0
        public static void SaveSnapshotImpl(GTAData data, Guid runId)
        {
            var conn  = OpenConnection();
            var trans = conn.BeginTransaction();

            using (NpgsqlCommand cmd = new NpgsqlCommand())
            {
                cmd.Connection  = conn;
                cmd.Transaction = trans;
                cmd.CommandText =
                    "INSERT INTO snapshots (run_id, version, imagepath, timestamp, timeofday, currentweather, camera_pos, camera_direction, camera_fov, view_matrix, proj_matrix, width, height) " +
                    "VALUES ( (SELECT run_id FROM runs WHERE runguid=@guid), " +
                    "@Version, @Imagepath, @Timestamp, @Timeofday, @currentweather, ST_MakePoint(@x, @y, @z), ST_MakePoint(@dirx, @diry, @dirz), @fov, @view_matrix, @proj_matrix, @width, @height ) " +
                    "RETURNING snapshot_id;";
                cmd.Parameters.Add(new NpgsqlParameter("@version", data.Version));
                cmd.Parameters.Add(new NpgsqlParameter("@imagepath", data.ImageName));
                cmd.Parameters.Add(new NpgsqlParameter("@timestamp", data.Timestamp));
                cmd.Parameters.Add(new NpgsqlParameter("@timeofday", data.LocalTime));
                cmd.Parameters.Add(new NpgsqlParameter("@currentweather", data.CurrentWeather));
                cmd.Parameters.Add(new NpgsqlParameter("@x", data.Pos.X));
                cmd.Parameters.Add(new NpgsqlParameter("@y", data.Pos.Y));
                cmd.Parameters.Add(new NpgsqlParameter("@z", data.Pos.Z));
                cmd.Parameters.AddWithValue("@dirx", data.CamDirection.X);
                cmd.Parameters.AddWithValue("@diry", data.CamDirection.Y);
                cmd.Parameters.AddWithValue("@dirz", data.CamDirection.Z);
                cmd.Parameters.AddWithValue("@fov", data.CamFOV);
                cmd.Parameters.AddWithValue("@view_matrix", data.ViewMatrix.ToArray());
                cmd.Parameters.AddWithValue("@proj_matrix", data.ProjectionMatrix.ToArray());
                cmd.Parameters.AddWithValue("@width", data.ImageWidth);
                cmd.Parameters.AddWithValue("@height", data.ImageHeight);
                cmd.Parameters.Add(new NpgsqlParameter("@guid", runId));
                int snapshotid = (int)cmd.ExecuteScalar();
                cmd.Parameters.Clear();
                cmd.CommandText =
                    "INSERT INTO snapshot_weathers (snapshot_id, weather_type, snapshot_page) VALUES (@snapshot, @weather, @page);";
                cmd.Parameters.AddWithValue("@snapshot", NpgsqlDbType.Integer, snapshotid);
                cmd.Parameters.AddWithValue("@weather", NpgsqlDbType.Enum, Weather.Unknown);
                cmd.Parameters.Add("@page", NpgsqlDbType.Integer);
                cmd.Prepare();
                for (int i = 0; i < data.CapturedWeathers.Count; ++i)
                {
                    cmd.Parameters["@weather"].Value = data.CapturedWeathers[i];
                    cmd.Parameters["@page"].Value    = i;
                    cmd.ExecuteNonQuery();
                }

                cmd.Parameters.Clear();
                cmd.Parameters.Add("@snapshot", NpgsqlDbType.Integer);
                cmd.Parameters.AddWithValue("@type", NpgsqlDbType.Enum, DetectionType.background);
                cmd.Parameters.Add("@x", NpgsqlDbType.Real);
                cmd.Parameters.Add("@y", NpgsqlDbType.Real);
                cmd.Parameters.Add("@z", NpgsqlDbType.Real);
                cmd.Parameters.Add("@xrot", NpgsqlDbType.Real);
                cmd.Parameters.Add("@yrot", NpgsqlDbType.Real);
                cmd.Parameters.Add("@zrot", NpgsqlDbType.Real);
                cmd.Parameters.Add("@bbox", NpgsqlDbType.Box);
                cmd.Parameters.Add("@minx", NpgsqlDbType.Real);
                cmd.Parameters.Add("@miny", NpgsqlDbType.Real);
                cmd.Parameters.Add("@minz", NpgsqlDbType.Real);
                cmd.Parameters.Add("@maxx", NpgsqlDbType.Real);
                cmd.Parameters.Add("@maxy", NpgsqlDbType.Real);
                cmd.Parameters.Add("@maxz", NpgsqlDbType.Real);
                cmd.Parameters.AddWithValue("@class", NpgsqlDbType.Enum, DetectionClass.Unknown);
                cmd.Parameters.Add("@handle", NpgsqlDbType.Integer);
                cmd.CommandText =
                    "INSERT INTO detections (snapshot_id, type, pos, rot, bbox, class, handle, bbox3d) VALUES " +
                    "(@snapshot, @type, ST_MakePoint(@x,@y,@z), ST_MakePoint(@xrot, @yrot, @zrot), @bbox, @class, @handle," +
                    "ST_3DMakeBox(ST_MakePoint(@minx,@miny,@minz), ST_MakePoint(@maxx, @maxy, @maxz)));";
                cmd.Prepare();


                foreach (var detection in data.Detections)
                {
                    cmd.Parameters["@snapshot"].Value = snapshotid;
                    cmd.Parameters["@type"].Value     = detection.Type;
                    cmd.Parameters["@x"].Value        = detection.Pos.X;
                    cmd.Parameters["@y"].Value        = detection.Pos.Y;
                    cmd.Parameters["@z"].Value        = detection.Pos.Z;
                    cmd.Parameters["@xrot"].Value     = detection.Rot.X;
                    cmd.Parameters["@yrot"].Value     = detection.Rot.Y;
                    cmd.Parameters["@zrot"].Value     = detection.Rot.Z;
                    cmd.Parameters["@bbox"].Value     =
                        new NpgsqlBox(detection.BBox.Max.Y, detection.BBox.Max.X, detection.BBox.Min.Y, detection.BBox.Min.X);
                    cmd.Parameters["@class"].Value  = detection.cls;
                    cmd.Parameters["@handle"].Value = detection.Handle;
                    cmd.Parameters["@minx"].Value   = detection.BBox3D.Minimum.X;
                    cmd.Parameters["@miny"].Value   = detection.BBox3D.Minimum.Y;
                    cmd.Parameters["@minz"].Value   = detection.BBox3D.Minimum.Z;

                    cmd.Parameters["@maxx"].Value = detection.BBox3D.Maximum.X;
                    cmd.Parameters["@maxy"].Value = detection.BBox3D.Maximum.Y;
                    cmd.Parameters["@maxz"].Value = detection.BBox3D.Maximum.Z;

                    cmd.ExecuteNonQuery();
                }
            }
            trans.Commit();
            conn.Close();
        }
Exemple #6
0
 public static async void SaveSnapshot(GTAData data, Guid runId)
 {
     await Task.Run(() => SaveSnapshotImpl(data, runId));
 }
        public static void SaveSnapshotImpl(GTAData data, Guid runId)
        {
            var conn  = OpenConnection();
            var trans = conn.BeginTransaction();

            using (NpgsqlCommand cmd = new NpgsqlCommand()) {
                var camRelativeRotString = "NULL";
                if (data.CamRelativeRot != null)
                {
                    camRelativeRotString = "ST_MakePoint(@relative_rot_x, @relative_rot_y, @relative_rot_z)";
                    cmd.Parameters.AddWithValue("@relative_rot_x", data.CamRelativeRot.X);
                    cmd.Parameters.AddWithValue("@relative_rot_y", data.CamRelativeRot.Y);
                    cmd.Parameters.AddWithValue("@relative_rot_z", data.CamRelativeRot.Z);
                }

                var camRelativePosString = "NULL";
                if (data.CamRelativePos != null)
                {
                    camRelativePosString = "ST_MakePoint(@relative_pos_x, @relative_pos_y, @relative_pos_z)";
                    cmd.Parameters.AddWithValue("@relative_pos_x", data.CamRelativePos.X);
                    cmd.Parameters.AddWithValue("@relative_pos_y", data.CamRelativePos.Y);
                    cmd.Parameters.AddWithValue("@relative_pos_z", data.CamRelativePos.Z);
                }

                var carModelBoxString = "NULL";
                if (data.CarModelBox != null)
                {
                    carModelBoxString = "ST_3DMakeBox(ST_MakePoint(@cam_box_min_x, @cam_box_min_y, @cam_box_min_z), " +
                                        "ST_MakePoint(@cam_box_max_x, @cam_box_max_y, @cam_box_max_z))";
                    cmd.Parameters.AddWithValue("@cam_box_min_x", data.CarModelBox.Minimum.X);
                    cmd.Parameters.AddWithValue("@cam_box_min_y", data.CarModelBox.Minimum.Y);
                    cmd.Parameters.AddWithValue("@cam_box_min_z", data.CarModelBox.Minimum.Z);
                    cmd.Parameters.AddWithValue("@cam_box_max_x", data.CarModelBox.Maximum.X);
                    cmd.Parameters.AddWithValue("@cam_box_max_y", data.CarModelBox.Maximum.Y);
                    cmd.Parameters.AddWithValue("@cam_box_max_z", data.CarModelBox.Maximum.Z);
                }

                var currentTarget = "NULL";
                if (data.CurrentTarget != null)
                {
                    currentTarget = "ST_MakePoint(@target_x, @target_y)";
                    cmd.Parameters.AddWithValue("@target_x", data.CurrentTarget.X);
                    cmd.Parameters.AddWithValue("@target_y", data.CurrentTarget.Y);
                }

                cmd.Connection  = conn;
                cmd.Transaction = trans;
                cmd.CommandText =
                    $"INSERT INTO snapshots (run_id, version, imagepath, timestamp, timeofday, currentweather, camera_pos, " +
                    $"camera_rot, camera_direction, camera_fov, view_matrix, proj_matrix, width, height, ui_width, ui_height, " +
                    $"player_pos, cam_near_clip, cam_far_clip, velocity, scene_id, camera_relative_rotation, " +
                    $"camera_relative_position, car_model_box, world_matrix, current_target) VALUES ( (SELECT run_id FROM runs WHERE " +
                    $"runguid=@guid), @Version, @Imagepath, @Timestamp, @Timeofday, @currentweather, ST_MakePoint(@x, @y, @z), " +
                    $"ST_MakePoint(@rotx, @roty, @rotz), ST_MakePoint(@dirx, @diry, @dirz), @fov, @view_matrix, @proj_matrix, " +
                    $"@width, @height, @ui_width, @ui_height, ST_MakePoint(@player_x, @player_y, @player_z), @cam_near_clip, " +
                    $"@cam_far_clip, ST_MakePoint(@vel_x, @vel_y, @vel_z), @scene_id, {camRelativeRotString}, " +
                    $"{camRelativePosString}, {carModelBoxString}, @world_matrix, {currentTarget}) RETURNING snapshot_id;";
                cmd.Parameters.Add(new NpgsqlParameter("@version", data.Version));
                cmd.Parameters.Add(new NpgsqlParameter("@imagepath", data.ImageName));
                cmd.Parameters.Add(new NpgsqlParameter("@timestamp", data.Timestamp));
                cmd.Parameters.Add(new NpgsqlParameter("@timeofday", data.LocalTime));
                cmd.Parameters.Add(new NpgsqlParameter("@currentweather", data.CurrentWeather));
                cmd.Parameters.Add(new NpgsqlParameter("@x", data.CamPos.X));
                cmd.Parameters.Add(new NpgsqlParameter("@y", data.CamPos.Y));
                cmd.Parameters.Add(new NpgsqlParameter("@z", data.CamPos.Z));
                cmd.Parameters.Add(new NpgsqlParameter("@rotx", data.CamRot.X));
                cmd.Parameters.Add(new NpgsqlParameter("@roty", data.CamRot.Y));
                cmd.Parameters.Add(new NpgsqlParameter("@rotz", data.CamRot.Z));
                cmd.Parameters.AddWithValue("@dirx", data.CamDirection.X);
                cmd.Parameters.AddWithValue("@diry", data.CamDirection.Y);
                cmd.Parameters.AddWithValue("@dirz", data.CamDirection.Z);
                cmd.Parameters.AddWithValue("@fov", data.CamFOV);
                cmd.Parameters.AddWithValue("@view_matrix", data.ViewMatrix.ToArray());
                cmd.Parameters.AddWithValue("@proj_matrix", data.ProjectionMatrix.ToArray());
                cmd.Parameters.AddWithValue("@world_matrix", data.WorldMatrix.ToArray());
                cmd.Parameters.AddWithValue("@width", data.ImageWidth);
                cmd.Parameters.AddWithValue("@height", data.ImageHeight);
//                @ui_width, @ui_height, @player_pos, @cam_near_clip, @cam_far_clip
                cmd.Parameters.AddWithValue("@ui_width", data.UIWidth);
                cmd.Parameters.AddWithValue("@ui_height", data.UIHeight);
                cmd.Parameters.AddWithValue("@player_x", data.playerPos.X);
                cmd.Parameters.AddWithValue("@player_y", data.playerPos.Y);
                cmd.Parameters.AddWithValue("@player_z", data.playerPos.Z);
                cmd.Parameters.AddWithValue("@vel_x", data.velocity.X);
                cmd.Parameters.AddWithValue("@vel_y", data.velocity.Y);
                cmd.Parameters.AddWithValue("@vel_z", data.velocity.Z);
                cmd.Parameters.AddWithValue("@cam_near_clip", data.CamNearClip);
                cmd.Parameters.AddWithValue("@cam_far_clip", data.CamFarClip);
                cmd.Parameters.AddWithValue("@scene_id", data.sceneGuid);

                cmd.Parameters.Add(new NpgsqlParameter("@guid", runId));
                int snapshotid = (int)cmd.ExecuteScalar();
                cmd.Parameters.Clear();
                cmd.CommandText =
                    "INSERT INTO snapshot_weathers (snapshot_id, weather_type, snapshot_page) VALUES (@snapshot, @weather, @page);";
                cmd.Parameters.AddWithValue("@snapshot", NpgsqlDbType.Integer, snapshotid);
                cmd.Parameters.AddWithValue("@weather", NpgsqlDbType.Enum, Weather.Unknown);
                cmd.Parameters.Add("@page", NpgsqlDbType.Integer);
                cmd.Prepare();
                for (int i = 0; i < data.CapturedWeathers.Count; ++i)
                {
                    cmd.Parameters["@weather"].Value = data.CapturedWeathers[i];
                    cmd.Parameters["@page"].Value    = i;
                    cmd.ExecuteNonQuery();
                }

                cmd.Parameters.Clear();
                cmd.Parameters.Add("@snapshot", NpgsqlDbType.Integer);
                cmd.Parameters.AddWithValue("@type", NpgsqlDbType.Enum, DetectionType.background);
                cmd.Parameters.Add("@x", NpgsqlDbType.Real);
                cmd.Parameters.Add("@y", NpgsqlDbType.Real);
                cmd.Parameters.Add("@z", NpgsqlDbType.Real);
                cmd.Parameters.Add("@xrot", NpgsqlDbType.Real);
                cmd.Parameters.Add("@yrot", NpgsqlDbType.Real);
                cmd.Parameters.Add("@zrot", NpgsqlDbType.Real);
                cmd.Parameters.Add("@bbox", NpgsqlDbType.Box);
                cmd.Parameters.Add("@minx", NpgsqlDbType.Real);
                cmd.Parameters.Add("@miny", NpgsqlDbType.Real);
                cmd.Parameters.Add("@minz", NpgsqlDbType.Real);
                cmd.Parameters.Add("@maxx", NpgsqlDbType.Real);
                cmd.Parameters.Add("@maxy", NpgsqlDbType.Real);
                cmd.Parameters.Add("@maxz", NpgsqlDbType.Real);
                cmd.Parameters.Add("@vel_x", NpgsqlDbType.Real);
                cmd.Parameters.Add("@vel_y", NpgsqlDbType.Real);
                cmd.Parameters.Add("@vel_z", NpgsqlDbType.Real);
                cmd.Parameters.AddWithValue("@class", NpgsqlDbType.Enum, DetectionClass.Unknown);
                cmd.Parameters.Add("@handle", NpgsqlDbType.Integer);
                cmd.CommandText =
                    "INSERT INTO detections (snapshot_id, type, pos, rot, bbox, class, handle, bbox3d, velocity) VALUES " +
                    "(@snapshot, @type, ST_MakePoint(@x,@y,@z), ST_MakePoint(@xrot, @yrot, @zrot), @bbox, @class, @handle," +
                    "ST_3DMakeBox(ST_MakePoint(@minx,@miny,@minz), ST_MakePoint(@maxx, @maxy, @maxz)), ST_MakePoint(@vel_x, @vel_y, @vel_z))";
                cmd.Prepare();


                foreach (var detection in data.Detections)
                {
                    cmd.Parameters["@snapshot"].Value = snapshotid;
                    cmd.Parameters["@type"].Value     = detection.Type;
                    cmd.Parameters["@x"].Value        = detection.Pos.X;
                    cmd.Parameters["@y"].Value        = detection.Pos.Y;
                    cmd.Parameters["@z"].Value        = detection.Pos.Z;
                    cmd.Parameters["@xrot"].Value     = detection.Rot.X;
                    cmd.Parameters["@yrot"].Value     = detection.Rot.Y;
                    cmd.Parameters["@zrot"].Value     = detection.Rot.Z;
                    cmd.Parameters["@bbox"].Value     =
                        new NpgsqlBox(detection.BBox.Max.Y, detection.BBox.Max.X, detection.BBox.Min.Y,
                                      detection.BBox.Min.X);
                    cmd.Parameters["@class"].Value  = detection.cls;
                    cmd.Parameters["@handle"].Value = detection.Handle;
                    cmd.Parameters["@minx"].Value   = detection.BBox3D.Minimum.X;
                    cmd.Parameters["@miny"].Value   = detection.BBox3D.Minimum.Y;
                    cmd.Parameters["@minz"].Value   = detection.BBox3D.Minimum.Z;

                    cmd.Parameters["@maxx"].Value = detection.BBox3D.Maximum.X;
                    cmd.Parameters["@maxy"].Value = detection.BBox3D.Maximum.Y;
                    cmd.Parameters["@maxz"].Value = detection.BBox3D.Maximum.Z;

                    cmd.Parameters["@vel_x"].Value = detection.velocity.X;
                    cmd.Parameters["@vel_y"].Value = detection.velocity.Y;
                    cmd.Parameters["@vel_z"].Value = detection.velocity.Z;

                    cmd.ExecuteNonQuery();
                }
            }

            trans.Commit();
            conn.Close();
        }
Exemple #8
0
        public static GTAData DumpData(string imageName, List <Weather> capturedWeathers)
        {
            var ret = new GTAData();

            ret.Version          = 3;
            ret.ImageName        = imageName;
            ret.CurrentWeather   = World.Weather;
            ret.CapturedWeathers = capturedWeathers;

            ret.Timestamp = DateTime.UtcNow;
            ret.LocalTime = World.CurrentDayTime;
            ret.CamPos    = new GTAVector(World.RenderingCamera.Position);
            ret.CamRot    = new GTAVector(World.RenderingCamera.Rotation);
            //getting information about currently driving vehicle model size
            Vector3 gmin;
            Vector3 gmax;

            Game.Player.Character.CurrentVehicle.Model.GetDimensions(out gmin, out gmax);
            ret.CarModelBox =
                new BoundingBox((SharpDX.Vector3) new GTAVector(gmin), (SharpDX.Vector3) new GTAVector(gmax));
            ret.CamDirection = new GTAVector(World.RenderingCamera.Direction);
            ret.CamFOV       = World.RenderingCamera.FieldOfView;
            ret.ImageWidth   = Game.ScreenResolution.Width;
            ret.ImageHeight  = Game.ScreenResolution.Height;
            ret.UIWidth      = UI.WIDTH;
            ret.UIHeight     = UI.HEIGHT;
            ret.playerPos    = new GTAVector(Game.Player.Character.Position);
            ret.velocity     = new GTAVector(Game.Player.Character.Velocity);
            ret.CamNearClip  = World.RenderingCamera.NearClip;
            ret.CamFarClip   = World.RenderingCamera.FarClip;

            var peds = World.GetNearbyPeds(Game.Player.Character, 500.0f);
            var cars = World.GetNearbyVehicles(Game.Player.Character, 500.0f);
            //var props = World.GetNearbyProps(Game.Player.Character.Position, 300.0f);

            var constants = VisionNative.GetConstants();

            if (!constants.HasValue)
            {
                return(null);
            }
            var W = MathNet.Numerics.LinearAlgebra.Single.DenseMatrix
                    .OfColumnMajor(4, 4, constants.Value.world.ToArray()).ToDouble();
            var WV =
                MathNet.Numerics.LinearAlgebra.Single.DenseMatrix.OfColumnMajor(4, 4,
                                                                                constants.Value.worldView.ToArray()).ToDouble();
            var WVP =
                MathNet.Numerics.LinearAlgebra.Single.DenseMatrix.OfColumnMajor(4, 4,
                                                                                constants.Value.worldViewProjection.ToArray()).ToDouble();

            var V = WV * W.Inverse();
            var P = WVP * WV.Inverse();

            ret.ProjectionMatrix = P as DenseMatrix;
            ret.ViewMatrix       = V as DenseMatrix;
            ret.WorldMatrix      = W as DenseMatrix;

            var pedList = from ped in peds
                          where ped.IsHuman && ped.IsOnFoot
//                where ped.IsHuman && ped.IsOnFoot && CheckVisible(ped)
                          select new GTADetection(ped);
            var cycles = from ped in peds
                         where ped.IsOnBike
//                where ped.IsOnBike && CheckVisible(ped)
                         select new GTADetection(ped, DetectionType.bicycle);

            var vehicleList = from car in cars
//                where CheckVisible(car)
                              select new GTADetection(car);

            ret.Detections = new List <GTADetection>();
            ret.Detections.AddRange(pedList);
            ret.Detections.AddRange(vehicleList);
            //ret.Detections.AddRange(cycles);

            return(ret);
        }