Digital Twins first iteration (#6260)

* Added way to download files from overpass api

* Save downloaded text to a file

* Changed log type for File manipulation

* Online process files when request is valid

* Correct file format

* Correct file format for UE4 class

* Fix compilation issue due to name change

* Create Widget with OpenFileDialogFunctionality

* Step xodr to map completed

* Generated Static meshes and replace procedural actors

* Created and saved assets during road generation

* Formatted file correctly

* OSM To ODR broguht to UE4

* Full pipeline working on linux

* Added osm2odr support in editor in Windos

* Added Widget to CartaTools

* Fixed Linux compilation error

* Added Carla Game Instance included to avoid compilation error

* Osm Renderer Tool dummy version

* Server creates SVG files when client request it

* SVG creation and rasterization - libraries integration

* Server size working

* Added Simplify to LibCarla, Added timers to measure time generation.  Add mesh deformation during road creation.

* Fixed mesh format translations

* Trying to paint bitmap into the UTexture

* Bitmap sent and drawn in widget texture with bugs

* Map bitmap shown on widget

* Concated meshes generated in the same lane to avoid errors during simplification

* Navigation added to widget

* Avoid Simplify to remove border vertices and try to parallel assets creation process

* Road Generation 0.1 version ready

* Removing Engine Association, Formatting CarlaTools Build dependencies

* Change container type of generated procedural mesh componetns to be supported by UPROPERTY

* Fixed indices jumping by two

* Started dynamic database creation

* Dynamic database creation temporally removed

* First step of merge. Coords of bottom left corner and top right corner

* Libraries added to build system

* Git ignore for osmrenderer to avoid ThirdParties directory to be tracked

* Lat and Lon coords for corners sent from server to client

* Transformed to local coords meshes' vertices' coords

* Coords format error fixed

* Saving xodr and osm files inside of OpenDrive folder

* Widget fixed

* UI design improved

* WIP Windows build system for osm-world-renderer

* Socket implementation replaced by boost asio framework in osmrenderer

* Build system adapted to wndows

* Headers fixed to avoid windows specific heraders compilation

* Added widget to import building from houdini

* Added origin latitude and longituda to OSM to OpenDRIVE conversion functions. Fixed Houdini importer widgets.

* Add Houdini plugin download to the build system

* Moved houdini blueprint. Houdini plugin now dowloads by default

* Added houdini download for windows

---------

Co-authored-by: Aaron <samaniegoaaron112@gmail.com>
Co-authored-by: Blyron <53337103+Blyron@users.noreply.github.com>
Co-authored-by: aollero <aollero@cvc.uab.cat>
Co-authored-by: aollero <adriollero@gmail.com>
Co-authored-by: bernat <bernatx@gmail.com>

LibCarla/source/carla/road/MeshFactory.cpp

@@ -70,7 +70,6 @@ namespace geom {
     double s_current = s_start;
 
     std::vector<geom::Vector3D> vertices;
-
     if (lane.IsStraight()) {
       // Mesh optimization: If the lane is straight just add vertices at the
       // begining and at the end of it
@@ -157,7 +156,6 @@ namespace geom {
         current_vertex = current_vertex + segments_size;
       }
     }
-
     out_mesh.AddVertices(vertices);
 
     // Add the adient material, create the strip and close the material
@@ -179,7 +177,6 @@ namespace geom {
         out_mesh.AddIndex(   j       + ( ( i + 1 ) * vertices_in_width ) + 1);
       }
     }
-
     out_mesh.EndMaterial();
     return std::make_unique<Mesh>(out_mesh);
   }
@@ -385,7 +382,6 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
   std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory::GenerateOrderedWithMaxLen(
     const road::LaneSection &lane_section) const {
       const int vertices_in_width = road_param.vertex_width_resolution >= 2 ? road_param.vertex_width_resolution : 2;
-
       std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> mesh_uptr_list;
 
       if (lane_section.GetLength() < road_param.max_road_len) {
@@ -405,7 +401,6 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
             {
               (mesh_uptr_list[lane_pair.second.GetType()][0])->ConcatMesh(lane_section_mesh, vertices_in_width);
             }
-
           }
           s_current = s_until;
         }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/LargeMapManager.cpp

@@ -593,6 +593,12 @@ ALargeMapManager::TileID ALargeMapManager::GetTileID(FDVector TileLocation) cons
   return GetTileID(TileID);
 }
 
+FCarlaMapTile* ALargeMapManager::GetCarlaMapTile(FVector Location)
+{
+  TileID TileID = GetTileID(Location);
+  return GetCarlaMapTile(TileID);
+}
+
 FCarlaMapTile& ALargeMapManager::GetCarlaMapTile(ULevel* InLevel)
 {
   FCarlaMapTile* Tile = nullptr;
@@ -610,11 +616,11 @@ FCarlaMapTile& ALargeMapManager::GetCarlaMapTile(ULevel* InLevel)
   return *Tile;
 }
 
-FCarlaMapTile* ALargeMapManager::GetCarlaMapTile(FIntVector TileVectorID)
+FCarlaMapTile& ALargeMapManager::GetCarlaMapTile(FIntVector TileVectorID)
 {
   TileID TileID = GetTileID(TileVectorID);
   FCarlaMapTile* Tile = MapTiles.Find(TileID);
-  return Tile;
+  return *Tile;
 }
 
 FCarlaMapTile* ALargeMapManager::GetCarlaMapTile(TileID TileID)

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/LargeMapManager.h

@@ -38,20 +38,20 @@ struct FActiveActor
   FQuat Rotation;
 };
 
-USTRUCT()
+USTRUCT(BlueprintType)
 struct FCarlaMapTile
 {
   GENERATED_BODY()
 
-  UPROPERTY(VisibleAnywhere, Category = "Carla Map Tile")
+  UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "Carla Map Tile")
   FString Name; // Tile_{TileID_X}_{TileID_Y}
 
   // Absolute location, does not depend on rebasing
-  UPROPERTY(VisibleAnywhere, Category = "Carla Map Tile")
+  UPROPERTY(VisibleAnywhere,  BlueprintReadWrite, Category = "Carla Map Tile")
   FVector Location{0.0f};
   // TODO: not FVector
 
-  UPROPERTY(VisibleAnywhere, Category = "Carla Map Tile")
+  UPROPERTY(VisibleAnywhere,  BlueprintReadWrite, Category = "Carla Map Tile")
   ULevelStreamingDynamic* StreamingLevel = nullptr;
 
   bool TilesSpawned = false;
@@ -166,6 +166,7 @@ public:
 
   float GetActorStreamingDistance() const;
 
+  UFUNCTION(BlueprintCallable, Category = "Large Map Manager")
   FIntVector GetTileVectorID(FVector TileLocation) const;
 
   FIntVector GetTileVectorID(FDVector TileLocation) const;
@@ -174,6 +175,7 @@ public:
 
   FVector GetTileLocation(TileID TileID) const;
   
+  UFUNCTION(BlueprintCallable, Category = "Large Map Manager")
   FVector GetTileLocation(FIntVector TileVectorID) const;
 
   FDVector GetTileLocationD(TileID TileID) const;
@@ -187,11 +189,12 @@ public:
 
   TileID GetTileID(FIntVector TileVectorID) const;
 public:
-  FCarlaMapTile& GetCarlaMapTile(FVector Location);
+  FCarlaMapTile* GetCarlaMapTile(FVector Location);
 
   FCarlaMapTile& GetCarlaMapTile(ULevel* InLevel);
 
-  FCarlaMapTile* GetCarlaMapTile(FIntVector TileVectorID);
+  UFUNCTION(BlueprintCallable, Category = "Large Map Manager")
+  FCarlaMapTile& GetCarlaMapTile(FIntVector TileVectorID);
   
   FCarlaMapTile* GetCarlaMapTile(TileID TileID);
 

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/CarlaTools.Build.cs

@@ -6,6 +6,7 @@ using UnrealBuildTool;
 
 public class CarlaTools : ModuleRules
 {
+  bool UsingHoudini = true;
   private bool IsWindows(ReadOnlyTargetRules Target)
   {
     return (Target.Platform == UnrealTargetPlatform.Win64) || (Target.Platform == UnrealTargetPlatform.Win32);
@@ -66,10 +67,24 @@ public class CarlaTools : ModuleRules
 				"Carla",
 				"PhysXVehicles",
         "Json",
-        "JsonUtilities"
+        "JsonUtilities",
+        "Networking",
+        "Sockets",
+        "RHI",
+        "RenderCore"
 				// ... add private dependencies that you statically link with here ...	
 			}
 			);
+    if(UsingHoudini)
+    {
+      PrivateDependencyModuleNames.AddRange(
+        new string[]
+        {
+          "HoudiniEngine",
+          "HoudiniEngineEditor",
+          "HoudiniEngineRuntime"
+        });
+    }
 		
 		
 		DynamicallyLoadedModuleNames.AddRange(

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Private/HoudiniImportNodeWrapper.cpp

@@ -0,0 +1,82 @@
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "HoudiniImportNodeWrapper.h"
+#include "HoudiniAsset.h"
+
+UHoudiniImportNodeWrapper::UHoudiniImportNodeWrapper(const FObjectInitializer& ObjectInitializer)
+{
+  if ( HasAnyFlags(RF_ClassDefaultObject) == false )
+	{
+		AddToRoot();
+	}
+}
+
+UHoudiniImportNodeWrapper* UHoudiniImportNodeWrapper::ImportBuildings(
+    UObject* InHoudiniObject,
+    const FTransform& InInstantiateAt,
+    UObject* InWorldContextObject,
+    const FString& MapName, const FString& OSMFilePath,
+    float Latitude, float Longitude,
+    int ClusterSize, int CurrentCluster)
+{
+  UE_LOG(LogCarlaTools, Log, TEXT("Start building import"));
+  UHoudiniAsset* InHoudiniAsset = Cast<UHoudiniAsset>(InHoudiniObject);
+  if (!InHoudiniAsset)
+  {
+    UE_LOG(LogCarlaTools, Error, TEXT("Houdini asset not valid"));
+    return nullptr;
+  }
+  UHoudiniImportNodeWrapper* WrapperNode = NewObject<UHoudiniImportNodeWrapper>();
+
+  TMap<FName, FHoudiniParameterTuple> InParameters = 
+  { {"userMapName", FHoudiniParameterTuple(MapName)},
+    {"osmPath", FHoudiniParameterTuple(OSMFilePath)},
+    {"clusterSize", FHoudiniParameterTuple(ClusterSize)},
+    {"displayedCluster", FHoudiniParameterTuple(CurrentCluster)},
+    {"startCooking", FHoudiniParameterTuple(true)},
+    {"lat", FHoudiniParameterTuple(Latitude)},
+    {"lon", FHoudiniParameterTuple(Longitude)}};
+  
+  WrapperNode->HDANode = 
+      UHoudiniPublicAPIProcessHDANode::ProcessHDA(
+      InHoudiniAsset, InInstantiateAt, InParameters, {}, {},
+      InWorldContextObject, nullptr,
+      true, true);
+  WrapperNode->HDANode->Completed.AddDynamic(WrapperNode, &UHoudiniImportNodeWrapper::HandleCompleted);
+  WrapperNode->HDANode->Failed.AddDynamic(WrapperNode, &UHoudiniImportNodeWrapper::HandleFailed);
+  UE_LOG(LogCarlaTools, Log, TEXT("HDA node created"));
+  return WrapperNode;
+}
+
+void UHoudiniImportNodeWrapper::Activate()
+{
+  HDANode->Activate();
+}
+
+void UHoudiniImportNodeWrapper::HandleCompleted(
+    UHoudiniPublicAPIAssetWrapper* , 
+    bool bCookSuccess, bool bBakeSuccess)
+{
+  UE_LOG(LogCarlaTools, Log, TEXT("Generation Finished"));
+  if (Completed.IsBound())
+  {
+    Completed.Broadcast(bCookSuccess, bBakeSuccess);
+  }
+  RemoveFromRoot();
+}
+
+void UHoudiniImportNodeWrapper::HandleFailed(
+    UHoudiniPublicAPIAssetWrapper* ,
+    bool bCookSuccess, bool bBakeSuccess)
+{
+  UE_LOG(LogCarlaTools, Log, TEXT("Generation failed"));
+  if (Failed.IsBound())
+  {
+    Failed.Broadcast(bCookSuccess, bBakeSuccess);
+  }
+  RemoveFromRoot();
+}

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Private/HoudiniImporterWidget.cpp

@@ -0,0 +1,132 @@
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "HoudiniImporterWidget.h"
+
+#include "EditorLevelUtils.h"
+#include "Kismet/GameplayStatics.h"
+#include "Kismet/KismetSystemLibrary.h"
+#include "FileHelpers.h"
+
+void UHoudiniImporterWidget::CreateSubLevels(ALargeMapManager* LargeMapManager)
+{
+
+}
+
+void UHoudiniImporterWidget::MoveActorsToSubLevel(TArray<AActor*> Actors, ALargeMapManager* LargeMapManager)
+{
+  TMap<FCarlaMapTile*, TArray<AActor*>> ActorsToMove;
+  for (AActor* Actor : Actors)
+  {
+    UHierarchicalInstancedStaticMeshComponent* Component
+        = Cast<UHierarchicalInstancedStaticMeshComponent>(
+          Actor->GetComponentByClass(
+          UHierarchicalInstancedStaticMeshComponent::StaticClass()));
+    FVector ActorLocation = Actor->GetActorLocation();
+    if (Component)
+    {
+      ActorLocation = FVector(0);
+      for(int32 i = 0; i < Component->GetInstanceCount(); ++i)
+      {
+        FTransform Transform;
+        Component->GetInstanceTransform(i, Transform, true);
+        ActorLocation = ActorLocation + Transform.GetTranslation();
+      }
+      ActorLocation = ActorLocation / Component->GetInstanceCount();
+    }
+    UE_LOG(LogCarlaTools, Log, TEXT("Actor at location %s"),
+          *ActorLocation.ToString());
+    FCarlaMapTile* Tile = LargeMapManager->GetCarlaMapTile(ActorLocation);
+    if(!Tile)
+    {
+      UE_LOG(LogCarlaTools, Error, TEXT("Error: actor in location %s is outside the map"),
+          *ActorLocation.ToString());
+      continue;
+    }
+
+    if(Component)
+    {
+      UpdateInstancedMeshCoordinates(Component, Tile->Location);
+    }
+    else
+    {
+      UpdateGenericActorCoordinates(Actor, Tile->Location);
+    }
+    ActorsToMove.FindOrAdd(Tile).Add(Actor);
+  }
+
+  for (auto& Element : ActorsToMove)
+  {
+    FCarlaMapTile* Tile = Element.Key;
+    TArray<AActor*> ActorList = Element.Value;
+    ULevelStreamingDynamic* StreamingLevel = Tile->StreamingLevel;
+    UE_LOG(LogCarlaTools, Log, TEXT("Got Tile %s in location %s"),
+        *StreamingLevel->PackageNameToLoad.ToString(), *Tile->Location.ToString());
+    StreamingLevel->bShouldBlockOnLoad = true;
+    StreamingLevel->SetShouldBeVisible(true);
+    StreamingLevel->SetShouldBeLoaded(true);
+    ULevelStreaming* Level = 
+        UEditorLevelUtils::AddLevelToWorld(
+        GetWorld(), *Tile->Name, ULevelStreamingDynamic::StaticClass(), FTransform());
+        
+    int MovedActors = UEditorLevelUtils::MoveActorsToLevel(ActorList, Level, false, false);
+    // StreamingLevel->SetShouldBeLoaded(false);
+    UE_LOG(LogCarlaTools, Log, TEXT("Moved %d actors"), MovedActors);
+    FEditorFileUtils::SaveDirtyPackages(false, true, true, false, false, false, nullptr);
+    UEditorLevelUtils::RemoveLevelFromWorld(Level->GetLoadedLevel());
+  }
+}
+
+void UHoudiniImporterWidget::UpdateGenericActorCoordinates(
+    AActor* Actor, FVector TileOrigin)
+{
+  FVector LocalLocation = Actor->GetActorLocation() - TileOrigin;
+  Actor->SetActorLocation(LocalLocation);
+  UE_LOG(LogCarlaTools, Log, TEXT("New location %s"),
+    *LocalLocation.ToString());
+}
+
+void UHoudiniImporterWidget::UpdateInstancedMeshCoordinates(
+    UHierarchicalInstancedStaticMeshComponent* Component,  FVector TileOrigin)
+{
+  TArray<FTransform> NewTransforms;
+  for(int32 i = 0; i < Component->GetInstanceCount(); ++i)
+  {
+    FTransform Transform;
+    Component->GetInstanceTransform(i, Transform, true);
+    Transform.AddToTranslation(-TileOrigin);
+    NewTransforms.Add(Transform);
+    UE_LOG(LogCarlaTools, Log, TEXT("New instance location %s"),
+        *Transform.GetTranslation().ToString());
+  }
+  Component->BatchUpdateInstancesTransforms(0, NewTransforms, true, true, true);
+}
+
+bool UHoudiniImporterWidget::GetNumberOfClusters(
+    TArray<AActor*> ActorList, int& OutNumClusters)
+{
+  
+  for (AActor* Actor : ActorList)
+  {
+    FString ObjectName = UKismetSystemLibrary::GetObjectName(Actor);
+    UE_LOG(LogCarlaTools, Log, TEXT("Searching in string %s"), *ObjectName);
+    if(ObjectName.StartsWith("b"))
+    {
+      int Index = ObjectName.Find("of");
+      if(Index == -1)
+      {
+        continue;
+      }
+      UE_LOG(LogCarlaTools, Log, TEXT("found of substr at %d"), Index);
+      FString NumClusterString = ObjectName.Mid(Index+2, ObjectName.Len());
+      OutNumClusters = FCString::Atoi(*NumClusterString);
+      return true;
+    }
+  }
+  UE_LOG(LogCarlaTools, Warning, TEXT("Num clusters not found"));
+  OutNumClusters = -1;
+  return false;
+}

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Private/MapGeneratorWidget.cpp

@@ -917,7 +917,7 @@ bool UMapGeneratorWidget::CreateTilesMaps(const FMapGeneratorMetaInfo& MetaInfo)
 
       // Terrain ROI
       FRoiTile ThisTileIndex(i, j);
-      if(FRegionOfInterest::IsTileInRegionsSet(ThisTileIndex, MetaInfo.TerrainRoisMap))
+      if(FCarlaRegionOfInterest::IsTileInRegionsSet(ThisTileIndex, MetaInfo.TerrainRoisMap))
       {
         FTerrainROI TileRegion = MetaInfo.TerrainRoisMap[ThisTileIndex];
 
@@ -1156,7 +1156,7 @@ bool UMapGeneratorWidget::CookVegetationToTiles(const FMapGeneratorMetaInfo& Met
 
     FRoiTile ThisTileIndex(TileIndexX, TileIndexY);
     TArray<UProceduralFoliageSpawner*> FoliageSpawnersToCook;
-    if(FRegionOfInterest::IsTileInRegionsSet(ThisTileIndex, MetaInfo.VegetationRoisMap))
+    if(FCarlaRegionOfInterest::IsTileInRegionsSet(ThisTileIndex, MetaInfo.VegetationRoisMap))
     {
       FVegetationROI TileRegion = MetaInfo.VegetationRoisMap[ThisTileIndex];
       FoliageSpawnersToCook = TileRegion.GetFoliageSpawners();

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Private/MapPreviewUserWidget.cpp

@@ -0,0 +1,211 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB). This work is licensed under the terms of the MIT license. For a copy, see <https://opensource.org/licenses/MIT>.
+
+
+#include "MapPreviewUserWidget.h"
+
+#if PLATFORM_WINDOWS
+  #include "AllowWindowsPlatformTypes.h"
+#endif
+
+#include "GenericPlatform/GenericPlatformMath.h"
+//#include "GenericPlatform/GenericPlatformProcess.h"
+#include "GenericPlatform/GenericPlatformFile.h"
+
+#include "Sockets.h"
+#include "Interfaces/IPv4/IPv4Address.h"
+#include "Common/TcpSocketBuilder.h"
+#include "SocketSubsystem.h"
+#include "SocketTypes.h"
+
+#if PLATFORM_WINDOWS
+  #include "HideWindowsPlatformTypes.h"
+#endif
+
+#include "Engine/Texture2D.h"
+#include "Containers/ResourceArray.h"
+#include "Containers/UnrealString.h"
+#include "Rendering/Texture2DResource.h"
+#include "RHI.h"
+#include "RHICommandList.h"
+#include "RenderingThread.h"
+#include "Misc/Timespan.h"
+#include "Containers/UnrealString.h"
+#include "Misc/Paths.h"
+
+
+
+
+
+//#include "Unix/UnixPlatformProcess.h"
+
+void UMapPreviewUserWidget::CreateTexture()
+{
+  if(!MapTexture)
+  {
+    MapTexture = UTexture2D::CreateTransient(512,512,EPixelFormat::PF_R8G8B8A8,"MapTextureRendered");
+    MapTexture->UpdateResource();
+  }
+}
+
+void UMapPreviewUserWidget::ConnectToSocket(FString DatabasePath, FString StylesheetPath, int Size)
+{
+  //FSocket* Socket = FSocket::CreateTCPConnection(nullptr, TEXT("OSMRendererSocket"));
+  Socket = FTcpSocketBuilder(TEXT("OSMRendererSocket")).AsReusable();
+  FIPv4Address RemoteAddress;
+  FIPv4Address::Parse(FIPv4Address::InternalLoopback.ToString(), RemoteAddress);
+  TSharedRef<FInternetAddr> RemoteAddr = ISocketSubsystem::Get(PLATFORM_SOCKETSUBSYSTEM)->CreateInternetAddr();
+  RemoteAddr->SetIp(RemoteAddress.Value);
+  RemoteAddr->SetPort(5000);
+
+  // Connect to the remote server
+  bool Connected = Socket->Connect(*RemoteAddr);
+  if (!Connected)
+  {
+    UE_LOG(LogTemp, Error, TEXT("Error connecting to remote server"));
+    return;
+  }
+
+  // Send a message
+  FString Message = "-C " + DatabasePath + " " + StylesheetPath + " " + FString::FromInt(Size);
+  SendStr(Message);
+  UE_LOG(LogTemp, Log, TEXT("Configuration Completed"));
+}
+
+void UMapPreviewUserWidget::RenderMap(FString Latitude, FString Longitude, FString Zoom)
+{
+ FString Message = "-R " + Latitude + " " + Longitude + " " + Zoom;
+  //FString Message = "-R 40.415 -3.702 100000";
+  SendStr(Message);
+
+  TArray<uint8_t> ReceivedData;
+  uint32 ReceivedDataSize;
+  
+  if(Socket->Wait(ESocketWaitConditions::WaitForRead, FTimespan::FromSeconds(5)))
+  {
+    while(Socket->HasPendingData(ReceivedDataSize))
+    {
+      int32 BytesReceived = 0;
+      TArray<uint8_t> ThisReceivedData;
+      ThisReceivedData.Init(0, FMath::Min(ReceivedDataSize, uint32(512*512*4)));
+      bool bRecv = Socket->Recv(ThisReceivedData.GetData(), ThisReceivedData.Num(), BytesReceived);
+      if (!bRecv)
+      {
+        UE_LOG(LogTemp, Error, TEXT("Error receiving message"));
+      }
+      else
+      {
+        UE_LOG(LogTemp, Log, TEXT("Received %d bytes. %d"), BytesReceived, ReceivedDataSize);
+        ReceivedData.Append(ThisReceivedData);
+        UE_LOG(LogTemp, Log, TEXT("Size of Data: %d"), ReceivedData.Num());
+      }
+    }
+    
+    // TODO: Move to function
+    if(ReceivedData.Num() > 0)
+    {
+      ENQUEUE_RENDER_COMMAND(UpdateDynamicTextureCode)
+      (
+        [NewData=ReceivedData, Texture=MapTexture](auto &InRHICmdList) mutable
+        {
+          UE_LOG(LogTemp, Log, TEXT("RHI: Updating texture"));
+          FUpdateTextureRegion2D Region;
+          Region.SrcX = 0;
+          Region.SrcY = 0;
+          Region.DestX = 0;
+          Region.DestY = 0;
+          Region.Width = Texture->GetSizeX();
+          Region.Height = Texture->GetSizeY();
+ 
+          FTexture2DResource* Resource = (FTexture2DResource*)Texture->Resource;
+          RHIUpdateTexture2D(Resource->GetTexture2DRHI(), 0, Region, Region.Width * sizeof(uint8_t) * 4, &NewData[0]);
+        }
+      );
+    }
+  }
+}
+
+FString UMapPreviewUserWidget::RecvCornersLatLonCoords()
+{
+  SendStr("-L");
+  uint8 TempBuffer[40];
+  int32 BytesReceived = 0;
+  if(Socket->Wait(ESocketWaitConditions::WaitForRead, FTimespan::FromSeconds(5)))
+  {
+    bool bRecv = Socket->Recv(TempBuffer, 40, BytesReceived);
+    if(!bRecv)
+    {
+      UE_LOG(LogTemp, Error, TEXT("Error receiving LatLon message"));
+      return "";
+    }
+    
+    FString CoordStr = FString(UTF8_TO_TCHAR((char*)TempBuffer));
+    return CoordStr;
+  }
+  return "";
+}
+
+void UMapPreviewUserWidget::Shutdown()
+{
+  // Close the socket
+  Socket->Close();
+}
+
+void UMapPreviewUserWidget::OpenServer()
+{
+  
+  /*FPlatformProcess::CreateProc(
+      TEXT("/home/adas/carla/osm-world-renderer/build/osm-world-renderer"), 
+      nullptr,  // Args
+      true,     // if true process will have its own window
+      false,     // if true it will be minimized
+      false,    // if true it will be hidden in task bar
+      nullptr,  // filled with PID
+      0,        // priority
+      nullptr,  // directory to place after running the program
+      nullptr   // redirection pipe
+  );*/
+
+}
+
+void UMapPreviewUserWidget::CloseServer()
+{
+  SendStr("-X");
+}
+
+bool UMapPreviewUserWidget::SendStr(FString Msg)
+{
+  if(!Socket)
+  {
+    UE_LOG(LogTemp, Error, TEXT("Error. No socket."));
+    return false;
+  }
+
+  std::string MessageStr = std::string(TCHAR_TO_UTF8(*Msg));
+  int32 BytesSent = 0;
+  bool bSent = Socket->Send((uint8*)MessageStr.c_str(), MessageStr.size(), BytesSent);
+  if (!bSent)
+  {
+    UE_LOG(LogTemp, Error, TEXT("Error sending message"));
+  }
+  else
+  {
+    UE_LOG(LogTemp, Log, TEXT("Sent %d bytes"), BytesSent);
+  }
+  return bSent;
+}
+
+void UMapPreviewUserWidget::UpdateLatLonCoordProperties()
+{
+  FString CoordStr = RecvCornersLatLonCoords();
+  UE_LOG(LogTemp, Log, TEXT("Received laton [%s] with size %d"), *CoordStr, CoordStr.Len());
+
+  TArray<FString> CoordsArray;
+  CoordStr.ParseIntoArray(CoordsArray, TEXT("&"), true);
+
+  check(CoordsArray.Num() == 4);
+
+  TopRightLat = FCString::Atof(*CoordsArray[0]);
+  TopRightLon = FCString::Atof(*CoordsArray[1]);
+  BottomLeftLat = FCString::Atof(*CoordsArray[2]);
+  BottomLeftLon = FCString::Atof(*CoordsArray[3]);
+}

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Private/OpenDriveToMap.cpp

@@ -230,6 +230,21 @@ void UOpenDriveToMap::GenerateRoadMesh( const boost::optional<carla::road::Map>&
       TempPMC->bUseComplexAsSimpleCollision = true;
       TempPMC->SetCollisionEnabled(ECollisionEnabled::QueryAndPhysics);
 
+      FVector MeshCentroid = FVector(0,0,0);
+      for( auto Vertex : Mesh->GetVertices() )
+      {
+        MeshCentroid += Vertex.ToFVector();
+      }
+
+      MeshCentroid /= Mesh->GetVertices().size();
+
+      for( auto& Vertex : Mesh->GetVertices() )
+      {
+       Vertex.x -= MeshCentroid.X;
+       Vertex.y -= MeshCentroid.Y;
+       Vertex.z -= MeshCentroid.Z;
+      }
+
       const FProceduralCustomMesh MeshData = *Mesh;
       TempPMC->CreateMeshSection_LinearColor(
           0,
@@ -240,6 +255,7 @@ void UOpenDriveToMap::GenerateRoadMesh( const boost::optional<carla::road::Map>&
           TArray<FLinearColor>(), // VertexColor
           TArray<FProcMeshTangent>(), // Tangents
           true); // Create collision
+      TempActor->SetActorLocation(MeshCentroid * 100);
       ActorMeshList.Add(TempActor);
 
       RoadType.Add(LaneTypeToFString(PairMap.first));
@@ -249,6 +265,7 @@ void UOpenDriveToMap::GenerateRoadMesh( const boost::optional<carla::road::Map>&
     
   end = FPlatformTime::Seconds();
   UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT("Mesh spawnning and translation code executed in %f seconds."), end - start);
+ 
 }
 
 void UOpenDriveToMap::GenerateSpawnPoints( const boost::optional<carla::road::Map>& CarlaMap )
@@ -351,7 +368,6 @@ TArray<UStaticMesh*> UOpenDriveToMap::CreateStaticMeshAssets()
   double end = FPlatformTime::Seconds();
 
   IPlatformFile& PlatformFile = FPlatformFileManager::Get().GetPlatformFile();
-
   TArray<UStaticMesh*> StaticMeshes;
 
   double BuildMeshDescriptionTime = 0.0f;
@@ -407,7 +423,6 @@ TArray<UStaticMesh*> UOpenDriveToMap::CreateStaticMeshAssets()
       SrcModel.BuildSettings.DstLightmapIndex = 1;
       CurrentStaticMesh->CreateMeshDescription(0, MoveTemp(MeshDescription));
       CurrentStaticMesh->CommitMeshDescription(0);
-
       end = FPlatformTime::Seconds();
       MeshInitTime += end - start;
       start = FPlatformTime::Seconds();
@@ -457,7 +472,6 @@ TArray<UStaticMesh*> UOpenDriveToMap::CreateStaticMeshAssets()
       // Notify asset registry of new asset
       FAssetRegistryModule::AssetCreated(CurrentStaticMesh);
       UPackage::SavePackage(Package, CurrentStaticMesh, EObjectFlags::RF_Public | EObjectFlags::RF_Standalone, *MeshName, GError, nullptr, true, true, SAVE_NoError);
-
       end = FPlatformTime::Seconds();
       PackSaveTime += end - start;
 

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/HoudiniImportNodeWrapper.h

@@ -0,0 +1,64 @@
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "Kismet/BlueprintAsyncActionBase.h"
+
+#include "HoudiniPublicAPIProcessHDANode.h"
+
+#include "HoudiniImportNodeWrapper.generated.h"
+
+// Delegate type for output pins on the node.
+DECLARE_DYNAMIC_MULTICAST_DELEGATE_TwoParams(FOnProcessImporterOutputPinDelegate, const bool, bCookSuccess, const bool, bBakeSuccess);
+
+UCLASS()
+class CARLATOOLS_API UHoudiniImportNodeWrapper : public UBlueprintAsyncActionBase
+{
+  GENERATED_BODY()
+
+public:
+
+  UHoudiniImportNodeWrapper(const FObjectInitializer& ObjectInitializer);
+
+  UFUNCTION(BlueprintCallable, meta=(AdvancedDisplay=5,AutoCreateRefTerm="InInstantiateAt",BlueprintInternalUseOnly="true", WorldContext="WorldContextObject"), Category="Houdini Importer")
+  static UHoudiniImportNodeWrapper* ImportBuildings(
+      UObject* InHoudiniAsset,
+      const FTransform& InInstantiateAt,
+      UObject* InWorldContextObject,
+      const FString& MapName, const FString& OSMFilePath,
+      float Latitude, float Longitude,
+      int ClusterSize, int CurrentCluster);
+
+  // Fires on task completed
+  UPROPERTY(BlueprintAssignable, Category="Houdini|Public API")
+	FOnProcessImporterOutputPinDelegate Completed;
+
+	// Fires if the task fails
+	UPROPERTY(BlueprintAssignable, Category="Houdini|Public API")
+	FOnProcessImporterOutputPinDelegate Failed;
+
+  virtual void Activate() override;
+
+protected:
+
+  UFUNCTION()
+  void HandleCompleted(
+      UHoudiniPublicAPIAssetWrapper* AssetWrapper, 
+      bool bCookSuccess, 
+      bool bBakeSuccess);
+
+  UFUNCTION()
+  void HandleFailed(
+      UHoudiniPublicAPIAssetWrapper* AssetWrapper,
+      bool bCookSuccess,
+      bool bBakeSuccess);
+
+private:
+  UHoudiniPublicAPIProcessHDANode* HDANode;
+
+};

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/HoudiniImporterWidget.h

@@ -0,0 +1,38 @@
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "EditorUtilityWidget.h"
+#include "Carla/MapGen/LargeMapManager.h"
+#include "Components/HierarchicalInstancedStaticMeshComponent.h"
+#include "Engine/LevelStreaming.h"
+
+#include "HoudiniImporterWidget.generated.h"
+
+UCLASS(BlueprintType)
+class CARLATOOLS_API UHoudiniImporterWidget : public UEditorUtilityWidget
+{
+  GENERATED_BODY()
+
+  UFUNCTION(BlueprintCallable, Category="HoudiniImporterWidget")
+  void CreateSubLevels(ALargeMapManager* LargeMapManager);
+
+  UFUNCTION(BlueprintCallable, Category="HoudiniImporterWidget")
+  void MoveActorsToSubLevel(TArray<AActor*> Actors, ALargeMapManager* LargeMapManager);
+
+  void UpdateGenericActorCoordinates(AActor* Actor, FVector TileOrigin);
+
+  void UpdateInstancedMeshCoordinates(
+      UHierarchicalInstancedStaticMeshComponent* Component, FVector TileOrigin);
+  
+  // Gets the total number of cluster from the actor name following the following scheme
+  // b{builsing}c{cluster}of{clustersize}
+  UFUNCTION(BlueprintCallable, Category="HoudiniImporterWidget")
+  bool GetNumberOfClusters(TArray<AActor*> ActorList, int& OutNumClusters);
+
+};

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/MapPreviewUserWidget.h

@@ -0,0 +1,57 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB). This work is licensed under the terms of the MIT license. For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "Blueprint/UserWidget.h"
+#include "MapPreviewUserWidget.generated.h"
+
+class FSocket;
+class UTexture2D;
+
+UCLASS()
+class CARLATOOLS_API UMapPreviewUserWidget : public UUserWidget
+{
+	GENERATED_BODY()
+
+private:
+	FSocket* Socket;
+
+	bool SendStr(FString Msg);
+	FString RecvCornersLatLonCoords();
+
+public:
+	UPROPERTY(EditAnywhere, BlueprintReadWrite)
+	UTexture2D* MapTexture;
+
+	UPROPERTY(BlueprintReadOnly)
+	float TopRightLat = 0.f;
+	UPROPERTY(BlueprintReadOnly)
+	float TopRightLon = 0.f;
+	UPROPERTY(BlueprintReadOnly)
+	float BottomLeftLat = 0.f;
+	UPROPERTY(BlueprintReadOnly)
+	float BottomLeftLon = 0.f;
+
+	UFUNCTION(BlueprintCallable)
+	void ConnectToSocket(FString DatabasePath, FString StylesheetPath, int Size);
+
+	UFUNCTION(BlueprintCallable)
+	void RenderMap(FString Latitude, FString Longitude, FString Zoom);
+
+	UFUNCTION(BlueprintCallable)
+	void Shutdown();
+
+	UFUNCTION(BlueprintCallable)
+	void CreateTexture();
+
+	UFUNCTION(BlueprintCallable)
+	void OpenServer();
+
+	UFUNCTION(BlueprintCallable)
+	void CloseServer();
+
+	UFUNCTION(BlueprintCallable)
+	void UpdateLatLonCoordProperties();
+	
+};

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/OpenDriveToMap.h

@@ -5,6 +5,7 @@
 #include "CoreMinimal.h"
 #include "Blueprint/UserWidget.h"
 #include "ProceduralMeshComponent.h"
+#include "Math/Vector2D.h"
 
 #include <compiler/disable-ue4-macros.h>
 #include <boost/optional.hpp>
@@ -44,6 +45,9 @@ public:
   UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="Settings" )
   FString Url;
 
+  UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="Settings" )
+  FVector2D OriginGeoCoordinates;
+
 protected:
   virtual void NativeConstruct() override;
   virtual void NativeDestruct() override;

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/RegionOfInterest.h

@@ -111,7 +111,7 @@ FORCEINLINE uint32 GetTypeHash(const FRoiTile& Thing)
  * 
  */
 USTRUCT(BlueprintType)
-struct CARLATOOLS_API FRegionOfInterest
+struct CARLATOOLS_API FCarlaRegionOfInterest
 {
 	GENERATED_BODY()
 
@@ -121,7 +121,7 @@ struct CARLATOOLS_API FRegionOfInterest
   UPROPERTY(BlueprintReadWrite)
   TEnumAsByte<ERegionOfInterestType> RegionType = ERegionOfInterestType::NONE_REGION;
 
-  FRegionOfInterest()
+  FCarlaRegionOfInterest()
   {
     TilesList.Empty();
   }
@@ -141,13 +141,13 @@ struct CARLATOOLS_API FRegionOfInterest
   template <typename R>
   static FORCEINLINE bool IsTileInRegionsSet(FRoiTile RoiTile, TMap<FRoiTile, R> RoisMap)
   {
-    static_assert(TIsDerivedFrom<R, FRegionOfInterest>::IsDerived, 
+    static_assert(TIsDerivedFrom<R, FCarlaRegionOfInterest>::IsDerived, 
         "ROIs Map Value type is not an URegionOfInterest derived type.");   
     return RoisMap.Contains(RoiTile);
   }
 
   /// Checking if two regions of interest are equal.
-  bool Equals(const FRegionOfInterest& Other)
+  bool Equals(const FCarlaRegionOfInterest& Other)
   {
     // Checking if the number of tiles in the two regions is the same.
     if(this->TilesList.Num() != Other.TilesList.Num())
@@ -185,14 +185,14 @@ struct CARLATOOLS_API FRegionOfInterest
 };
 
 USTRUCT(BlueprintType)
-struct CARLATOOLS_API FVegetationROI : public FRegionOfInterest
+struct CARLATOOLS_API FVegetationROI : public FCarlaRegionOfInterest
 {
   GENERATED_BODY()
 
   UPROPERTY(BlueprintReadWrite)
   TArray<UProceduralFoliageSpawner*> FoliageSpawners;
   
-  FVegetationROI() : FRegionOfInterest()
+  FVegetationROI() : FCarlaRegionOfInterest()
   {
     this->FoliageSpawners.Empty();
   }
@@ -218,7 +218,7 @@ struct CARLATOOLS_API FVegetationROI : public FRegionOfInterest
 };
 
 USTRUCT(BlueprintType)
-struct CARLATOOLS_API FTerrainROI : public FRegionOfInterest
+struct CARLATOOLS_API FTerrainROI : public FCarlaRegionOfInterest
 {
   GENERATED_BODY()
 
@@ -230,7 +230,7 @@ struct CARLATOOLS_API FTerrainROI : public FRegionOfInterest
   UPROPERTY(BlueprintReadWrite)
   UTextureRenderTarget2D* RoiHeightmapRenderTarget;
 
-  FTerrainROI() : FRegionOfInterest(), RoiMaterialInstance()
+  FTerrainROI() : FCarlaRegionOfInterest(), RoiMaterialInstance()
   {}
 
   /**
@@ -259,7 +259,7 @@ struct CARLATOOLS_API FTerrainROI : public FRegionOfInterest
 };
 
 USTRUCT(BlueprintType)
-struct CARLATOOLS_API FMiscSpreadedActorsROI : public FRegionOfInterest
+struct CARLATOOLS_API FMiscSpreadedActorsROI : public FCarlaRegionOfInterest
 {
   GENERATED_BODY()
 
@@ -272,14 +272,14 @@ struct CARLATOOLS_API FMiscSpreadedActorsROI : public FRegionOfInterest
   UPROPERTY(BlueprintReadWrite)
   TEnumAsByte<ESpreadedActorsDensity> ActorsDensity;
 
-  FMiscSpreadedActorsROI() : FRegionOfInterest(), ActorClass(), Probability(0.0f), ActorsDensity(ESpreadedActorsDensity::LOW)
+  FMiscSpreadedActorsROI() : FCarlaRegionOfInterest(), ActorClass(), Probability(0.0f), ActorsDensity(ESpreadedActorsDensity::LOW)
   {}
 };
 
 /// A struct that is used to store the information of a region of interest that is used to 
 /// spawn actors in specific locations.
 USTRUCT(BlueprintType)
-struct CARLATOOLS_API FMiscSpecificLocationActorsROI : public FRegionOfInterest
+struct CARLATOOLS_API FMiscSpecificLocationActorsROI : public FCarlaRegionOfInterest
 {
   GENERATED_BODY()
 
@@ -295,12 +295,12 @@ struct CARLATOOLS_API FMiscSpecificLocationActorsROI : public FRegionOfInterest
   UPROPERTY(BlueprintReadWrite)
   float MaxRotationRange;
 
-  FMiscSpecificLocationActorsROI() : FRegionOfInterest(), ActorClass(), ActorLocation(0.0f)
+  FMiscSpecificLocationActorsROI() : FCarlaRegionOfInterest(), ActorClass(), ActorLocation(0.0f)
   {}
 };
 
 USTRUCT(BlueprintType)
-struct CARLATOOLS_API FSoilTypeROI : public FRegionOfInterest
+struct CARLATOOLS_API FSoilTypeROI : public FCarlaRegionOfInterest
 {
   GENERATED_BODY()
 

Util/BuildTools/BuildCarlaUE4.bat

@@ -113,6 +113,16 @@ if %REMOVE_INTERMEDIATE% == true (
     )
 )
 
+rem Download Houdini Plugin
+
+set HOUDINI_PLUGIN_REPO=https://github.com/sideeffects/HoudiniEngineForUnreal.git
+set HOUDINI_PLUGIN_PATH=Plugins/HoudiniEngine
+set HOUDINI_PLUGIN_BRANCH=Houdini19.5-Unreal4.26
+set HOUDINI_PATCH=${CARLA_UTIL_FOLDER}/Patches/houdini_patch.txt
+if not exist "%HOUDINI_PLUGIN_PATH%" (
+  call git clone -b %HOUDINI_PLUGIN_BRANCH% %HOUDINI_PLUGIN_REPO% %HOUDINI_PLUGIN_PATH%
+)
+
 rem Build Carla Editor
 rem
 

Util/BuildTools/BuildCarlaUE4.sh

@@ -16,6 +16,7 @@ USE_CARSIM=false
 USE_CHRONO=false
 USE_PYTORCH=false
 EDITOR_FLAGS=""
+USE_HOUDINI=false
 
 GDB=
 RHI="-vulkan"
@@ -61,6 +62,9 @@ while [[ $# -gt 0 ]]; do
     --pytorch )
       USE_PYTORCH=true;
       shift ;;
+    --with-houdini )
+      USE_HOUDINI=true;
+      shift ;;
     -h | --help )
       echo "$DOC_STRING"
       echo "$USAGE_STRING"
@@ -123,6 +127,21 @@ if ${REMOVE_INTERMEDIATE} ; then
 
 fi
 
+# ==============================================================================
+# -- Download Houdini Plugin for Unreal Engine ---------------------------------
+# ==============================================================================
+
+HOUDINI_PLUGIN_REPO=https://github.com/sideeffects/HoudiniEngineForUnreal.git
+HOUDINI_PLUGIN_PATH=Plugins/HoudiniEngine
+HOUDINI_PLUGIN_BRANCH=Houdini19.5-Unreal4.26
+HOUDINI_PATCH=${CARLA_UTIL_FOLDER}/Patches/houdini_patch.txt
+if [[ ! -d ${HOUDINI_PLUGIN_PATH} ]] ; then
+  git clone -b ${HOUDINI_PLUGIN_BRANCH} ${HOUDINI_PLUGIN_REPO} ${HOUDINI_PLUGIN_PATH}
+  pushd ${HOUDINI_PLUGIN_PATH} >/dev/null
+  git apply ${HOUDINI_PATCH}
+  popd >/dev/null
+fi
+
 # ==============================================================================
 # -- Build CarlaUE4 ------------------------------------------------------------
 # ==============================================================================

Util/BuildTools/BuildOSM2ODR.bat

@@ -109,7 +109,6 @@ if %BUILD_OSM2ODR% == true (
 
     cmake --build . --config Release --target install | findstr /V "Up-to-date:"
     if %errorlevel% neq 0 goto error_install
-
     copy %OSM2ODR_INSTALL_PATH%\lib\osm2odr.lib %CARLA_DEPENDENCIES_FOLDER%\lib
     copy %OSM2ODR_INSTALL_PATH%\include\OSM2ODR.h %CARLA_DEPENDENCIES_FOLDER%\include
 )

Util/BuildTools/BuildOSM2ODR.sh

@@ -112,6 +112,28 @@ if ${BUILD_OSM2ODR} ; then
   LLVM_INCLUDE="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/include/c++/v1"
   LLVM_LIBPATH="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/lib/Linux/x86_64-unknown-linux-gnu"
   
+  echo $LLVM_INCLUDE
+  echo $LLVM_LIBPATH
+
+  cmake ${OSM2ODR_SOURCE_FOLDER} \
+      -G "Eclipse CDT4 - Ninja" \
+      -DCMAKE_CXX_FLAGS="-fPIC -std=c++14 -stdlib=libc++ -I${LLVM_INCLUDE} -L${LLVM_LIBPATH}" \
+      -DCMAKE_INSTALL_PREFIX=${LIBCARLA_INSTALL_SERVER_FOLDER} \
+      -DPROJ_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/proj-install-server/include \
+      -DPROJ_LIBRARY=${CARLA_BUILD_FOLDER}/proj-install-server/lib/libproj.a \
+      -DXercesC_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-install-server/include \
+      -DXercesC_LIBRARY=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-install-server/lib/libxerces-c.a
+
+  ninja osm2odr
+  ninja install
+
+  mkdir -p ${OSM2ODR_SERVER_BUILD_FOLDER}
+  cd ${OSM2ODR_SERVER_BUILD_FOLDER}
+
+  LLVM_BASENAME=llvm-8.0
+  LLVM_INCLUDE="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/include/c++/v1"
+  LLVM_LIBPATH="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/lib/Linux/x86_64-unknown-linux-gnu"
+
   cmake ${OSM2ODR_SOURCE_FOLDER} \
       -G "Eclipse CDT4 - Ninja" \
       -DCMAKE_CXX_FLAGS="-fPIC -std=c++14 -stdlib=libc++ -I${LLVM_INCLUDE} -L${LLVM_LIBPATH}" \

Util/BuildTools/BuildOSMRenderer.bat

@@ -0,0 +1,85 @@
+@echo off
+setlocal enabledelayedexpansion 
+
+set LIBOSMSCOUT_REPO=https://github.com/Framstag/libosmscout
+set LUNASVG_REPO=https://github.com/sammycage/lunasvg
+
+set LIBOSMSCOUT_SOURCE_PATH=%INSTALLATION_DIR:/=\%libosmscout-source\
+set LIBOSMSCOUT_VSPROJECT_PATH=%INSTALLATION_DIR:/=\%libosmscout-visualstudio\
+
+set LUNASVG_SOURCE_PATH=%INSTALLATION_DIR:/=\%lunasvg-source\
+set LUNASVG_VSPROJECT_PATH=%INSTALLATION_DIR:/=\%lunasvg-visualstudio\
+
+set OSM_RENDERER_SOURCE=%ROOT_PATH:/=\%osm-world-renderer\
+set OSM_RENDERER_VSPROJECT_PATH=%INSTALLATION_DIR:/=\%%osm-world-renderer-visualstudio\
+
+rem Installation path for server dependencies
+set DEPENDENCIES_INSTALLATION_PATH=%OSM_RENDERER_SOURCE:/=\%ThirdParties\
+
+
+rem ============================================================================
+rem -- Download dependency manager for libosmscout -----------------------------
+rem ============================================================================
+set VCPKG_REPO=https://github.com/microsoft/vcpkg
+set VCPKG_PATH=%INSTALLATION_DIR:/=\%vcpkg\
+set VCPKG_CMAKE_TOOLCHAIN_PATH=%VCPKG_PATH:/=\%scripts\buildsystems\vcpkg.cmake
+
+rem if not exist "%VCPKG_PATH%" git clone %VCPKG_REPO% %VCPKG_PATH%
+
+rem .\"%VCPKG_PATH:/=\%"bootstrap-vcpkg.bat
+
+
+rem ============================================================================
+rem -- Download and build libosmscout ------------------------------------------
+rem ============================================================================
+
+if not exist "%LIBOSMSCOUT_SOURCE_PATH%" git clone %LIBOSMSCOUT_REPO% %LIBOSMSCOUT_SOURCE_PATH%
+
+if not exist "%LIBOSMSCOUT_VSPROJECT_PATH%" mkdir "%LIBOSMSCOUT_VSPROJECT_PATH%"
+cd "%LIBOSMSCOUT_VSPROJECT_PATH%"
+
+cmake -G "Visual Studio 16 2019"^
+    -DCMAKE_INSTALL_PREFIX="%DEPENDENCIES_INSTALLATION_PATH:\=/%"^
+    -DOSMSCOUT_BUILD_TOOL_STYLEEDITOR=OFF^
+    -DOSMSCOUT_BUILD_TOOL_OSMSCOUT2=OFF^
+    -DOSMSCOUT_BUILD_TESTS=OFF^
+    -DOSMSCOUT_BUILD_CLIENT_QT=OFF^
+    -DOSMSCOUT_BUILD_DEMOS=OFF^
+    "%LIBOSMSCOUT_SOURCE_PATH%"
+
+rem -DCMAKE_CXX_FLAGS_RELEASE="/DM_PI=3.14159265358979323846"^
+
+cmake --build . --config=Release --target install
+
+rem ============================================================================
+rem -- Download and build lunasvg ----------------------------------------------
+rem ============================================================================
+
+if not exist "%LUNASVG_SOURCE_PATH%" git clone %LUNASVG_REPO% %LUNASVG_SOURCE_PATH%
+
+if not exist "%LUNASVG_VSPROJECT_PATH%" mkdir "%LUNASVG_VSPROJECT_PATH%"
+cd "%LUNASVG_VSPROJECT_PATH%"
+
+cmake -G "Visual Studio 16 2019" -A x64^
+    -DCMAKE_INSTALL_PREFIX="%DEPENDENCIES_INSTALLATION_PATH:\=/%"^
+    "%LUNASVG_SOURCE_PATH%"
+
+cmake --build . --config Release --target install
+
+
+rem ===========================================================================
+rem -- Build osm-map-renderer tool --------------------------------------------
+rem ===========================================================================
+
+if not exist "%OSM_RENDERER_VSPROJECT_PATH%" mkdir "%OSM_RENDERER_VSPROJECT_PATH%"
+cd "%OSM_RENDERER_VSPROJECT_PATH%"
+
+cmake -G "Visual Studio 16 2019" -A x64^
+    -DCMAKE_CXX_FLAGS_RELEASE="/std:c++17 /wd4251 /I%INSTALLATION_DIR:/=\%boost-1.80.0-install\include"^
+    "%OSM_RENDERER_SOURCE%"
+
+cmake --build . --config Release
+rem cmake --build . --config Release
+rem    -DOSMSCOUT_BUILD_MAP_QT=OFF^
+
+copy "%DEPENDENCIES_INSTALLATION_PATH:/=\%"bin "%OSM_RENDERER_VSPROJECT_PATH:/=\%"Release\

Util/BuildTools/BuildOSMRenderer.sh

@@ -0,0 +1,69 @@
+#! /bin/bash
+
+source $(dirname "$0")/Environment.sh
+
+LIBOSMSCOUT_REPO=https://github.com/Framstag/libosmscout
+LUNASVG_REPO=https://github.com/sammycage/lunasvg
+
+LIBOSMSCOUT_SOURCE_FOLDER=${CARLA_BUILD_FOLDER}/libosmscout-source
+LIBOSMSCOUT_BUILD_FOLDER=${CARLA_BUILD_FOLDER}/libosmscout-build
+
+LUNASVG_SOURCE_FOLDER=${CARLA_BUILD_FOLDER}/lunasvg-source
+LUNASVG_BUILD_FOLDER=${CARLA_BUILD_FOLDER}/lunasvg-build
+
+OSM_RENDERER_SOURCE=${CARLA_ROOT_FOLDER}/osm-world-renderer
+OSM_RENDERER_BUILD=${CARLA_BUILD_FOLDER}/osm-world-renderer-build
+
+INSTALLATION_PATH=${OSM_RENDERER_SOURCE}/ThirdParties
+
+
+
+# ==============================================================================
+# -- Download and build libosmscout --------------------------------------------
+# ==============================================================================
+echo "Cloning libosmscout."
+echo ${CARLA_BUILD_FOLDER}
+if [ ! -d ${LIBOSMSCOUT_SOURCE_FOLDER} ] ; then
+  git clone ${LIBOSMSCOUT_REPO} ${LIBOSMSCOUT_SOURCE_FOLDER}
+fi
+
+mkdir -p ${LIBOSMSCOUT_BUILD_FOLDER}
+cd ${LIBOSMSCOUT_BUILD_FOLDER}
+
+cmake ${LIBOSMSCOUT_SOURCE_FOLDER} \
+    -DCMAKE_INSTALL_PREFIX=${INSTALLATION_PATH}
+
+make
+make install
+
+# ==============================================================================
+# -- Download and build lunasvg ------------------------------------------------
+# ==============================================================================
+echo "Cloning luna-svg"
+if [ ! -d ${LUNASVG_SOURCE_FOLDER} ] ; then
+  git clone ${LUNASVG_REPO} ${LUNASVG_SOURCE_FOLDER}
+fi
+
+mkdir -p ${LUNASVG_BUILD_FOLDER}
+cd ${LUNASVG_BUILD_FOLDER}
+
+cmake ${LUNASVG_SOURCE_FOLDER} \
+    -DCMAKE_INSTALL_PREFIX=${INSTALLATION_PATH}
+
+make
+make install
+
+
+# ==============================================================================
+# -- Build osm-map-renderer tool -----------------------------------------------
+# ==============================================================================
+echo "Building osm-map-renderer"
+
+mkdir -p ${OSM_RENDERER_BUILD}
+cd ${OSM_RENDERER_BUILD}
+
+cmake -DCMAKE_CXX_FLAGS="-std=c++17 -g -pthread -I${CARLA_BUILD_FOLDER}/boost-1.80.0-c10-install/include" \
+    ${OSM_RENDERER_SOURCE}
+make
+
+echo "SUCCESS! Finishing setting up renderer."

Util/BuildTools/Linux.mk

@@ -150,3 +150,6 @@ build.utils: PythonAPI
 
 osm2odr:
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildOSM2ODR.sh --build $(ARGS)
+
+osmrenderer:
+	@${CARLA_BUILD_TOOLS_FOLDER}/BuildOSMRenderer.sh

Util/BuildTools/Windows.mk

@@ -82,3 +82,6 @@ deploy:
 
 osm2odr:
 	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildOSM2ODR.bat" --build $(ARGS)
+
+osmrenderer:
+	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildOSMRenderer.bat"

Util/Patches/houdini_patch.txt

@@ -0,0 +1,15 @@
+diff --git a/Source/HoudiniEngineEditor/Private/HoudiniEngineDetails.cpp b/Source/HoudiniEngineEditor/Private/HoudiniEngineDetails.cpp
+index 36c9bf5cd..d9d6dbfdb 100755
+--- a/Source/HoudiniEngineEditor/Private/HoudiniEngineDetails.cpp
++++ b/Source/HoudiniEngineEditor/Private/HoudiniEngineDetails.cpp
+@@ -1131,8 +1131,8 @@ FHoudiniEngineDetails::CreateAssetOptionsWidgets(
+ 
+ 	auto IsCheckedParameterChangedLambda = [MainHAC]()
+ 	{
+-      	if (!IsValidWeakPointer(MainHAC))
+-      		return ECheckBoxState::Unchecked;
++    if (!IsValidWeakPointer(MainHAC))
++      return ECheckBoxState::Unchecked;
+ 
+ 		return MainHAC->bCookOnParameterChange ? ECheckBoxState::Checked : ECheckBoxState::Unchecked;
+ 	};

osm-world-renderer/.gitignore

@@ -0,0 +1,2 @@
+build/
+ThirdParties/

osm-world-renderer/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.5.1)
+project(OsmMapRenderer)
+
+# Libosmscout and Luna SVG Library
+include_directories(ThirdParties/include)
+link_directories(ThirdParties/lib)
+
+# Source Files
+add_library(OsmRenderer OsmRenderer/src/OsmRenderer.cpp)
+target_sources(OsmRenderer PRIVATE OsmRenderer/src/MapDrawer.cpp)
+target_sources(OsmRenderer PRIVATE OsmRenderer/src/MapRasterizer.cpp)
+target_include_directories( OsmRenderer PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/OsmRenderer/include)
+
+add_executable(osm-world-renderer OsmRenderer/main.cpp)
+target_link_libraries(osm-world-renderer OsmRenderer)
+target_link_libraries(osm-world-renderer osmscout)
+target_link_libraries(osm-world-renderer osmscout_map)
+target_link_libraries(osm-world-renderer osmscout_map_svg)
+target_link_libraries(osm-world-renderer lunasvg)

osm-world-renderer/OsmRenderer/include/MapDrawer.h

@@ -0,0 +1,58 @@
+#ifndef MAP_DRAWE_H
+#define MAP_DRAWE_H
+
+#include <vector>
+#include <string>
+#include <memory>
+
+#include "MapRasterizer.h"
+
+#include <osmscout/GeoCoord.h>
+#include <osmscout/Database.h>
+#include <osmscoutmap/MapService.h>
+#include <osmscout/BasemapDatabase.h>
+
+class MapDrawer
+{
+public:
+    void PreLoad(std::vector<std::string>& Args);
+
+    void Draw(std::uint8_t* OutMap, osmscout::GeoCoord Coords, double ZoomValue);
+
+    inline const int GetImgSizeSqr()
+    {
+        return Size * Size;
+    };
+
+    osmscout::GeoCoord GetBottomLeftCoord();
+    osmscout::GeoCoord GetTopRightCoord();
+
+private:
+    // Rastering
+    std::unique_ptr<MapRasterizer> Rasterizer;
+
+    // Arguments
+    std::string DataBasePath;
+    std::string StyleSheetPath;
+    int Size;
+
+    // Entities
+    osmscout::DatabaseParameter DbParameter;
+    osmscout::DatabaseRef Database;
+    osmscout::MapServiceRef MapService;
+    osmscout::StyleConfigRef StyleSheet;
+
+    osmscout::MercatorProjection Projection;
+    osmscout::MapData MapData;
+    osmscout::MapParameter DrawParameter;
+    osmscout::AreaSearchParameter SearchParameter;
+    //GeoCoord CenterCoords;
+
+    void LoadDatabaseData();
+    void SetDrawParameters();
+
+    void DrawMap(std::uint8_t* OutMap);
+     
+};
+
+#endif

osm-world-renderer/OsmRenderer/include/MapRasterizer.h

@@ -0,0 +1,15 @@
+#ifndef MAP_RASTERIZER_H
+#define MAP_RASTERIZER_H
+
+#include <string>
+
+class MapRasterizer
+{
+public:
+    void RasterizeSVG(std::uint8_t* OutMap, std::string SvgString, int Size);
+
+private:
+    int BackgroundColor = 0x00000000;
+};
+
+#endif

osm-world-renderer/OsmRenderer/include/OsmRenderer.h

@@ -0,0 +1,43 @@
+#ifndef OSM_RENDERER_H
+#define OSM_RENDERER_H
+
+#include <boost/asio.hpp>
+
+#include <string>
+#include <vector>
+#include <memory>
+#include "MapDrawer.h"
+
+
+class OsmRenderer 
+{
+private:
+  // Boost socket
+  boost::asio::io_service io_service;
+  std::unique_ptr<boost::asio::ip::tcp::acceptor> SocketAcceptorPtr;
+  std::unique_ptr<boost::asio::ip::tcp::socket> SocketPtr;
+
+
+  // Map Drawer
+  std::unique_ptr<MapDrawer> Drawer;
+
+  void RunCmd(std::string Cmd);
+
+  std::vector<std::string> SplitCmd (std::string s, std::string delimiter);
+
+  // Command Handlers
+  void RenderMapCmd(std::vector<std::string> CmdArgs, uint8_t* OutMap);
+  void ConfigMapCmd(std::vector<std::string> CmdArgs);
+  void SendLatLonCmd(std::vector<std::string> CmdArgs);
+
+
+public:
+  std::string GetOsmRendererString() const;
+
+  void InitRenderer();
+  void StartLoop();
+
+  void ShutDown();
+};
+
+#endif

osm-world-renderer/OsmRenderer/include/OsmRendererMacros.h

@@ -0,0 +1,17 @@
+#define CMD_INDEX 0
+
+#define C_CMD_DATABASE_PATH 1
+#define C_CMD_STYLESHEET_PATH 2
+#define C_CMD_IMG_SIZE 3
+
+#define R_CMD_LATITUDE 1
+#define R_CMD_LONGITUDE 2
+#define R_CMD_ZOOM 3
+
+#ifdef _WIN32
+#define DEFAULT_FONT_FILE "C:\\Windows\\Fonts\\arial.ttf"
+#else
+#define DEFAULT_FONT_FILE "/usr/share/fonts/TTF/LiberationSans-Regular.ttf"
+#endif
+
+#define LOG_PRFX "├ "

osm-world-renderer/OsmRenderer/main.cpp

@@ -0,0 +1,28 @@
+#include <iostream>
+
+#include "include/OsmRenderer.h"
+
+int main()
+{
+    //std::locale::global(std::locale("C.UTF-8"));
+    //std::locale::global(std::locale("es_ES.utf8"));
+    // std::locale::global(std::locale("en_US.utf8"));
+
+    std::cout << " Starting renderer " << std::locale().name() << std::endl;
+    OsmRenderer Renderer;
+    try
+    {
+        Renderer.InitRenderer();
+        Renderer.StartLoop();
+    }
+    catch(std::exception& e)
+    {
+        std::cerr << "ERROR:: " << e.what() << std::endl;
+        return -1;
+    }
+
+    Renderer.ShutDown();
+    std::cout << "Shutting down renderer. Bye! " << Renderer.GetOsmRendererString() << std::endl;
+
+    return 0;
+}

osm-world-renderer/OsmRenderer/src/MapDrawer.cpp

@@ -0,0 +1,123 @@
+#include "MapDrawer.h"
+#include "OsmRendererMacros.h"
+#include "MapRasterizer.h"
+
+#include "osmscoutmapsvg/MapPainterSVG.h"
+
+#include <iostream>
+//#include <fstream>
+#include <sstream>
+#include <list>
+
+using namespace std;
+
+void MapDrawer::PreLoad(vector<string>& Args)
+{
+  // Open Database
+  std::cout << "Begining" << std::endl;
+  DataBasePath = Args[C_CMD_DATABASE_PATH];
+  StyleSheetPath = Args[C_CMD_STYLESHEET_PATH];
+  std::cout << "Before stoi" << std::endl;
+  Size = stoi(Args[C_CMD_IMG_SIZE]);
+
+  Database = std::make_shared<osmscout::Database>(DbParameter);
+
+  std::cout << "Before opening database" << std::endl;
+
+  if(!Database->Open(DataBasePath))
+  {
+    std::cerr << "ERROR Opening Database in " << DataBasePath << std::endl;
+  }
+
+  std::cout << "After opening database" << std::endl;
+
+  MapService = std::make_shared<osmscout::MapService>(Database);
+
+  StyleSheet = std::make_shared<osmscout::StyleConfig>(Database->GetTypeConfig());
+  if(!StyleSheet->Load(StyleSheetPath))
+  {
+    std::cerr << "ERROR Opening Stylesheet in " << DataBasePath << std::endl;
+  }
+
+  Rasterizer = std::make_unique<MapRasterizer>();
+}
+
+void MapDrawer::Draw(std::uint8_t* OutMap, osmscout::GeoCoord Coords, double ZoomValue)
+{
+  osmscout::Magnification Zoom;
+  Zoom.SetMagnification(ZoomValue);
+  Projection.Set(Coords, Zoom, 96.0f, Size, Size);
+  
+  LoadDatabaseData();
+  SetDrawParameters();
+
+  DrawMap(OutMap);
+}
+
+osmscout::GeoCoord MapDrawer::GetBottomLeftCoord()
+{
+  osmscout::GeoCoord PixelCoord;
+  if(Projection.PixelToGeo(0, Size-1, PixelCoord))
+    return PixelCoord;
+  else
+    return osmscout::GeoCoord(0,0);
+}
+
+osmscout::GeoCoord MapDrawer::GetTopRightCoord()
+{
+  osmscout::GeoCoord PixelCoord;
+  if(Projection.PixelToGeo(Size-1, 0, PixelCoord))
+    return PixelCoord;
+  else
+    return osmscout::GeoCoord(0,0);
+}
+
+void MapDrawer::LoadDatabaseData()
+{
+  // Load Database
+  std::list<osmscout::TileRef> Tiles;
+
+  MapData.ClearDBData();
+
+  MapService->LookupTiles(Projection, Tiles);
+  MapService->LoadMissingTileData(SearchParameter, *StyleSheet, Tiles);
+  MapService->AddTileDataToMapData(Tiles, MapData);
+  MapService->GetGroundTiles(Projection, MapData.groundTiles);
+
+}
+
+void MapDrawer::SetDrawParameters()
+{
+  DrawParameter.SetFontName(DEFAULT_FONT_FILE);
+
+  //DrawParameter.SetFontSize(args.fontSize);
+  DrawParameter.SetRenderSeaLand(true);
+  DrawParameter.SetRenderUnknowns(false);
+  DrawParameter.SetRenderBackground(false);
+  //DrawParameter.SetRenderContourLines(args.renderContourLines);
+  //DrawParameter.SetRenderHillShading(args.renderHillShading);
+
+  //DrawParameter.SetIconMode(args.iconMode);
+  //DrawParameter.SetIconPaths(args.iconPaths);
+
+  //DrawParameter.SetDebugData(args.debug);
+  //DrawParameter.SetDebugPerformance(args.debug);
+
+  DrawParameter.SetLabelLineMinCharCount(15);
+  DrawParameter.SetLabelLineMaxCharCount(30);
+  DrawParameter.SetLabelLineFitToArea(true);
+}
+
+void MapDrawer::DrawMap(std::uint8_t* OutMap)
+{
+  std::stringstream OutSvgStream;
+  if (!OutSvgStream) {
+    std::cerr << "Cannot open '" << "' for writing!" << std::endl;
+    return;
+  }
+
+  osmscout::MapPainterSVG Painter(StyleSheet);
+  Painter.DrawMap(Projection, DrawParameter, MapData, OutSvgStream);
+
+  Rasterizer->RasterizeSVG(OutMap, OutSvgStream.str(), Size);
+}

osm-world-renderer/OsmRenderer/src/MapRasterizer.cpp

@@ -0,0 +1,38 @@
+#include "MapRasterizer.h"
+#include "OsmRendererMacros.h"
+
+//#define STB_IMAGE_WRITE_IMPLEMENTATION
+
+#include "lunasvg.h"
+//#include "stb_image_write.h"
+
+#include <iostream>
+#include <string>
+#include <cstring>
+
+using namespace lunasvg;
+
+void MapRasterizer::RasterizeSVG(std::uint8_t* OutMap, std::string SvgString, int Size)
+{
+    auto SvgDocument = Document::loadFromData(SvgString);
+
+    if(!SvgDocument)
+    {
+        std::cerr << "ERROR: Rasterizer could not load Svg data." << std::endl;
+        return;
+    }
+
+    Bitmap RasterizedBitmap = SvgDocument->renderToBitmap(Size, Size, BackgroundColor);
+    if(!RasterizedBitmap.valid())
+    {
+        std::cerr << LOG_PRFX << "ERROR: No valid Bitmap" << std::endl;
+        return;
+    }
+    else
+    {
+        std::cout << LOG_PRFX << "Bitmap VALID" << std::endl; 
+    }
+
+    RasterizedBitmap.convertToRGBA();
+    std::memcpy(OutMap, RasterizedBitmap.data(), Size*Size*4*sizeof(uint8_t));
+}

osm-world-renderer/OsmRenderer/src/OsmRenderer.cpp

@@ -0,0 +1,151 @@
+#include "OsmRenderer.h"
+
+#include "OsmRendererMacros.h"
+#include "MapDrawer.h"
+
+#include <stdexcept>
+#include <iostream>
+#include <string.h>
+#include <chrono>
+#include <stdlib.h> 
+
+#define PORT 5000
+#define BUFFER_SIZE 1024
+
+using namespace std;
+
+namespace Asio = boost::asio;
+using AsioStreamBuf = boost::asio::streambuf;
+using AsioTCP = boost::asio::ip::tcp;
+using AsioSocket = boost::asio::ip::tcp::socket;
+using AsioAcceptor = boost::asio::ip::tcp::acceptor;
+using AsioEndpoint = boost::asio::ip::tcp::endpoint;
+
+
+string OsmRenderer::GetOsmRendererString() const
+{
+  return "Renderer speaking here";
+}
+
+void OsmRenderer::InitRenderer() 
+{
+  SocketAcceptorPtr = make_unique<AsioAcceptor>(io_service, AsioEndpoint(AsioTCP::v4(), PORT));
+  SocketPtr = make_unique<AsioSocket>(io_service);
+}
+
+void OsmRenderer::StartLoop()
+{
+  std::cout << "┌ Waiting Command..." << std::endl;
+  SocketAcceptorPtr->accept(*SocketPtr);
+  if(!SocketPtr->is_open())
+  {
+    throw runtime_error("Connection not accepted. Socket is not opened.");
+  }
+  while(true)
+  {
+    AsioStreamBuf Buffer;
+    Asio::read(*SocketPtr, Buffer, Asio::transfer_at_least(2));
+
+    string BufferStr = Asio::buffer_cast<const char*>(Buffer.data());
+
+    std::cout << LOG_PRFX << "Received message: " << BufferStr << std::endl;
+
+    RunCmd(BufferStr);
+  }
+}
+
+void OsmRenderer::ShutDown()
+{
+  // TODO Shutdown socket and clear pointers
+}
+
+void OsmRenderer::RunCmd(string Cmd)
+{
+  string CmdStr = Cmd;
+  vector<string> CmdVector = SplitCmd(CmdStr, " ");
+  
+  string CmdType = CmdVector[CMD_INDEX];
+
+  if(CmdType == "-R")     // Render Command
+  {
+    std::uint8_t* RenderedMap = new uint8_t[Drawer->GetImgSizeSqr() * 4];
+    RenderMapCmd(CmdVector, RenderedMap);
+
+    Asio::write(*SocketPtr, Asio::buffer(RenderedMap, (Drawer->GetImgSizeSqr() * 4 * sizeof(uint8_t))));
+
+    // TODO: delete RenderedMap after is sent
+  }
+  else if(CmdType == "-C")// Configuration Command
+  {
+    ConfigMapCmd(CmdVector);
+  }
+  else if(CmdType == "-X")// Exit command
+  {
+    std::cout << "└ Bye!" << std::endl;
+    exit(EXIT_SUCCESS);
+  }
+  else if(CmdType == "-L")
+  {
+    SendLatLonCmd(CmdVector);
+  }
+}
+
+vector<string> OsmRenderer::SplitCmd (string s, string delimiter) {
+    size_t pos_start = 0, pos_end, delim_len = delimiter.length();
+    string token;
+    vector<string> res;
+
+    while ((pos_end = s.find (delimiter, pos_start)) != string::npos) {
+        token = s.substr (pos_start, pos_end - pos_start);
+        pos_start = pos_end + delim_len;
+        res.push_back (token);
+    }
+
+    res.push_back (s.substr (pos_start));
+    return res;
+}
+
+void OsmRenderer::RenderMapCmd(vector<string> CmdArgs, uint8_t* OutMap)
+{
+  std::cout << LOG_PRFX << "Rendering map at [" << stof(CmdArgs[R_CMD_LATITUDE]) << ", "
+    << stof(CmdArgs[R_CMD_LONGITUDE]) << "] with zoom: " << CmdArgs[R_CMD_ZOOM] << std::endl;
+
+  auto start = std::chrono::high_resolution_clock::now();
+  osmscout::GeoCoord Coord(stof(CmdArgs[R_CMD_LATITUDE]), stof(CmdArgs[R_CMD_LONGITUDE]));
+  Drawer->Draw(OutMap, Coord, stod(CmdArgs[R_CMD_ZOOM]));
+  auto stop = std::chrono::high_resolution_clock::now();
+
+  auto ElapsedTime = std::chrono::duration_cast<std::chrono::milliseconds>(stop - start);
+  std::cout << LOG_PRFX << "Elapsed Rendering time: " << ElapsedTime.count() << "ms." << std::endl;
+}
+
+void OsmRenderer::ConfigMapCmd(vector<string> CmdArgs)
+{
+  std::cout << LOG_PRFX << "Configuring Renderer:: DATABASE:" 
+       << CmdArgs[C_CMD_DATABASE_PATH] << " STYLESHEET: "
+       << CmdArgs[C_CMD_STYLESHEET_PATH] << " SIZE: " << CmdArgs[C_CMD_IMG_SIZE]<< std::endl;
+  Drawer = std::make_unique<MapDrawer>();
+  Drawer->PreLoad(CmdArgs);
+
+  if(!Drawer)
+  {
+    std::cout << LOG_PRFX << "--> ERROR creating Drawer"  << std::endl;
+    return;
+  }
+}
+
+void OsmRenderer::SendLatLonCmd(vector<string> CmdArgs)
+{
+  osmscout::GeoCoord TopRightCoord = Drawer->GetTopRightCoord();
+  osmscout::GeoCoord BottomLeftCoord = Drawer->GetBottomLeftCoord();
+
+  std::cout << LOG_PRFX << "TOP: " << TopRightCoord.GetLat() << " -- " << TopRightCoord.GetLon() << std::endl;
+  std::cout << LOG_PRFX << "BOTTOM: " << BottomLeftCoord.GetLat() << " -- " << BottomLeftCoord.GetLon() << std::endl;
+
+  string CoordsStr = to_string(TopRightCoord.GetLat()) + "&" + to_string(TopRightCoord.GetLon()) + 
+      "&" + to_string(BottomLeftCoord.GetLat()) + "&" + to_string(BottomLeftCoord.GetLon()) + "&";
+
+  std::cout << LOG_PRFX << "Sending [" << CoordsStr << "] Size: " << CoordsStr.size() << std::endl;
+  
+  Asio::write(*SocketPtr, Asio::buffer(CoordsStr));
+}

osm-world-renderer/Run.sh

@@ -0,0 +1,20 @@
+BUILD_DIR=build/
+
+if [ -d $BUILD_DIR ];
+then
+    echo "Deleting existing ${BUILD_DIR} directory." 
+    rm -r $BUILD_DIR
+fi
+
+echo "Creating ${BUILD_DIR} directory."
+mkdir $BUILD_DIR
+cd $BUILD_DIR
+
+LIB_LIBOSMSCOUT_INCLUDE=/home/aollero/Downloads/libosmcout/libosmscout-master/libosmscout-map-svg/include/
+LIB_LIBOSMSCOUT_LIBS=/home/aollero/Downloads/libosmcout/libosmscout-master/build/libosmscout-map-svg
+
+
+cmake -DCMAKE_CXX_FLAGS="-std=c++17 -g -Og" ..
+make
+
+./osm-world-renderer

osm-world-renderer/test_client/testclient.py

@@ -0,0 +1,24 @@
+import socket
+
+def client_program():
+    host = socket.gethostname()  # as both code is running on same pc
+    port = 5000  # socket server port number
+
+    client_socket = socket.socket()  # instantiate
+    client_socket.connect((host, port))  # connect to the server
+
+    message = input(" -> ")  # take input
+
+    while message.lower().strip() != 'bye':
+        client_socket.send(message.encode())  # send message
+        data = client_socket.recv(1024).decode()  # receive response
+
+        print('Received from server: ' + data)  # show in terminal
+
+        message = input(" -> ")  # again take input
+
+    client_socket.close()  # close the connection
+
+
+if __name__ == '__main__':
+    client_program()