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);
}
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));
}
public GTAPed(Ped p)
{
Pos = new GTAVector(p.Position);
BBox = GTAData.ComputeBoundingBox(p, p.Position);
}
public GTAVehicle(Vehicle v)
{
Pos = new GTAVector(v.Position);
BBox = GTAData.ComputeBoundingBox(v, v.Position);
}
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();
}
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();
}
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);
}