Digital Twins 0.2 version (#6768)

* 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

* Added in separate thread junctions generation

* 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

* Added multithreaded simplification of meshes

* Build system adapted to wndows

* Headers fixed to avoid windows specific heraders compilation

* Remove warnings

* 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

* OpenDriveToMap Now is a UOBject instead of widget

* Added Lane mark generation.

* Roads materials and distance field scale set to 0

* M_PI macro fixed for windows osm-renderer build system

* Added Lane Marking generation

* Fixed compilation issue related with std pair non copyable lane

* Fix bug where different lanes were concating. Fix bug where end of roadmark was creating an artifact

* Lanes Marks material assignation

* Fix compilation issue and reading from not valid memory crash

* Middle Lane mark duplication bug fixed - temp solution

* Added bumps along road

* Adding marchingcubes library and added to create junctions

* Added junctions generations using marching cube and smoothed

* Fixed linux compilation and removed couple warnings

* Using previous algorithim for two road connections

* Code cleanup

* Remove debug state

* Format Files

* Format third parties files

* Spaces removal

* Fix code format

* Added spawnning for trees

* New branch to don`t loose modifications in code

* Removing unnecesary spaces

* Set trees for designer

* Tag static mesh actor from road type

* One tile with landscape and road cut

* Changed format of For

* WidgetCreated

* Widget progress

* LevelCreator Update

* Folder for basicParameters in father map

* Father map from template

* Terrain mesh generated from noise and road mask

Road mask not applied

* Assign SubLevel by position

* Changed to static functions

* StrigUpdate

* Added missing UFUNCTIONS

* Trying to move Houdini actors to tiles

* Meshes from Houdini to Tiles

* Number of X and Y tiles exposed

* Modify to new functions

* Modifying code to create a new variable-offset and table to ingest blueprints

* Update assignTile Function

* Updating widget and cpp file to relocate meshes

* Update Widget and create local copy of OpenDriveToMap

* Added planes as landscape

* RoadImported fixed

* Simplification done in UE side

* Update Houdini pipeline

* Fixed osmrenderer compilation for windows

* Generate landscape and set materials

* Generate UVs for lane meshes. Generate Normals and Tangets for lane meshes

* Delete unnecesary files

* Widget updated

* Exposing different variables to BPs

* Update Assets

* Asset path names fixed

* Fixed height for misc objects, set default landscape

* Rotate Light boxes

* Adding OSM Importer plugin

* Fixed normals on sidewalks

* Update adding buildings plugin

* Adding missing BP

* Update

* Fix BP_Instanced

* Update OSMImporter

* Creating BP_BuildingCreator

* LevelCreator Fixed

* Update building asset creation

* If def add for osm renderer

* Building block variation and styles

* Updated values and generation for demo3

* Fix Widget

* Changed unreal FSocket for boost sockets. Fixed road position errors

* Update building creation

* Updated Building Height

* Fixing line colors

* Added Planes in missing stuff

* Update for meshes

* Update deformation, avoid creation of individual buildings and add check for deformation

* Deleted unnecesary files

* New branch to work on building generation

* Added shorts walls and roofs

* Improve triangulation of polygons using UE

* Fixing pipeline

* Disabling shadows for roads and terrain

* Updated default values for BP_Opendrivetomap

* Updated OpenDriveToMap

* Use Editor world instead of GetWorld

* Added HTTP module

* Change customfiledownloader API

* Adding debuginformation

* Using OpenDriveToMapObject

* Adding Debug stuff

* Expose Buildings names in ue4

* Remove from root when generation finished

* Adding Slopes to building generation

* Table update

* Set pivot point at centre of building and Set use of material instances

* Updating Buildings plane stuff

* Fixing walls for building generator

* Update data table

* Updated road generation

* Update DT

* Update Origin of map and set moving for large map

* Remove logs prepare blueprints for getting new info

* Update slope fix and material for slopes

* Updated Digital Twins for 12/06

* Added direct URL support

* Avoid some crashes and improve QoL

* Height fix

* Tried to expose largemap in tick

* New vegetation scatter tool

* Added Full largemap support

* Edit building levels in some type of levels

* Updated static meshes instead of procedural meshes

* Updated building generation and reduced logs

* Vegetation tool into landscape pipeline

* Demo ready for digital twins

* Automated download of plugin

* Update linux build script for UE4 Plugins

* Disable sidewalks in junctions

* Re enable sidewalksin crossing lanes

* Removed asserts added checks to avoid generation of sidewalks on road

* Optimizations for VRAM

* Move actors slowly to sub levels

* Added optimizations and support for smaller or bigger maps in tiles, modified TileSize

* Garage and shed styles

* Update generation stages

* Update garage and shed parameters

* Changed method generation to tile by tile

* Fixed memory leak and UOpenDriveToMap is a uobject now

* Fixed tile by tile generation

* Added Heightmap support to map gen

* last update

* Commandlet generation working

* Merge finished

* Update DefaultEngine.ini to rever default rhi

* Clean up HoudiniImporterWidget.cpp

* Add with editor and make editor only code

* Setup dependencies for CarlaTools plugin

* Update StreetMap plugin commit and gitignore

* Update Content version

* Update next content version

* Changed based type of OpenDrivetomap

* Remove intermediate files if need similar to BuildCarlaUE4.sh

* Update order of execution of donwload

* Try to run download plugins everytime is used

* Update packages sh avoid to delete anything

* Fixing setup in windows

* Add UE Constructor to Commandlet

* More fixes

* content version

* Update package sh and update

* Update Streetmap version

* Update dependencies

* Update StreetMap commit

* Fix typo in gitignore

* Update STMap plugin commit

* Revert latest changes in windows package script

* Update comments

---------

Co-authored-by: aollero <aollero@cvc.uab.cat>
Co-authored-by: aollero <adriollero@gmail.com>
Co-authored-by: Axel <axellopez92@outlook.com>
Co-authored-by: marionzki <mnoriegazamora@gmail.com>
Co-authored-by: bernatx <bernatx@gmail.com>

.gitignore

@@ -7,8 +7,10 @@ Util/Build
 Install
 Plugins
 !Unreal/CarlaUE4/Plugins
+Unreal/CarlaUE4/Plugins/Streetmap
 Unreal/CarlaUE4/Plugins/HoudiniEngine
 
+
 /ExportedMaps
 /Import/*
 !/Import/README.md

LibCarla/source/carla/road/Lane.cpp

@@ -58,8 +58,10 @@ namespace road {
   double Lane::GetWidth(const double s) const {
     RELEASE_ASSERT(s <= GetRoad()->GetLength());
     const auto width_info = GetInfo<element::RoadInfoLaneWidth>(s);
-    RELEASE_ASSERT(width_info != nullptr);
-    return width_info->GetPolynomial().Evaluate(s);
+    if(width_info != nullptr){
+      return width_info->GetPolynomial().Evaluate(s);
+    }
+    return 0.0f;
   }
 
   bool Lane::IsStraight() const {

LibCarla/source/carla/road/Map.cpp

@@ -1135,27 +1135,33 @@ namespace road {
   }
 
   std::map<road::Lane::LaneType , std::vector<std::unique_ptr<geom::Mesh>>>
-    Map::GenerateOrderedChunkedMesh( const rpc::OpendriveGenerationParameters& params) const
+    Map::GenerateOrderedChunkedMeshInLocations( const rpc::OpendriveGenerationParameters& params,
+                                     const geom::Vector3D& minpos,
+                                     const geom::Vector3D& maxpos) const
   {
 
     geom::MeshFactory mesh_factory(params);
     std::map<road::Lane::LaneType, std::vector<std::unique_ptr<geom::Mesh>>> road_out_mesh_list;
     std::map<road::Lane::LaneType, std::vector<std::unique_ptr<geom::Mesh>>> junction_out_mesh_list;
 
-    std::thread juntction_thread( &Map::GenerateJunctions, this, mesh_factory, params, &junction_out_mesh_list);
+    std::thread juntction_thread( &Map::GenerateJunctions, this, mesh_factory, params,
+      minpos, maxpos, &junction_out_mesh_list);
 
-    size_t num_roads = _data.GetRoads().size();
-    size_t num_roads_per_thread = 20;
+    const std::vector<RoadId> RoadsIDToGenerate = FilterRoadsByPosition(minpos, maxpos);
+
+    size_t num_roads = RoadsIDToGenerate.size();
+    size_t num_roads_per_thread = 30;
     size_t num_threads = (num_roads / num_roads_per_thread) + 1;
     num_threads = num_threads > 1 ? num_threads : 1;
     std::vector<std::thread> workers;
     std::mutex write_mutex;
+    std::cout << "Generating " << std::to_string(num_roads) << " roads" << std::endl;
 
     for ( size_t i = 0; i < num_threads; ++i ) {
       std::thread neworker(
-        [this, &write_mutex, &mesh_factory, &road_out_mesh_list, i, num_roads_per_thread]() {
+        [this, &write_mutex, &mesh_factory, &RoadsIDToGenerate, &road_out_mesh_list, i, num_roads_per_thread]() {
         std::map<road::Lane::LaneType, std::vector<std::unique_ptr<geom::Mesh>>> Current =
-          std::move(GenerateRoadsMultithreaded(mesh_factory, i, num_roads_per_thread));
+          std::move(GenerateRoadsMultithreaded(mesh_factory, RoadsIDToGenerate,i, num_roads_per_thread ));
         std::lock_guard<std::mutex> guard(write_mutex);
         for ( auto&& pair : Current ) {
           if (road_out_mesh_list.find(pair.first) != road_out_mesh_list.end()) {
@@ -1193,17 +1199,23 @@ namespace road {
         road_out_mesh_list[pair.first] = std::move(pair.second);
       }
     }
+    std::cout << "Generated " << std::to_string(num_roads) << " roads" << std::endl;
 
     return road_out_mesh_list;
   }
+
   std::vector<std::pair<geom::Transform, std::string>> Map::GetTreesTransform(
+    const geom::Vector3D& minpos,
+    const geom::Vector3D& maxpos,
     float distancebetweentrees,
     float distancefromdrivinglineborder,
     float s_offset) const {
 
     std::vector<std::pair<geom::Transform, std::string>> transforms;
-    for (auto &&pair : _data.GetRoads()) {
-      const auto &road = pair.second;
+
+    const std::vector<RoadId> RoadsIDToGenerate = FilterRoadsByPosition(minpos, maxpos);
+    for ( RoadId id : RoadsIDToGenerate ) {
+      const auto& road = _data.GetRoads().at(id);
       if (!road.IsJunction()) {
         for (auto &&lane_section : road.GetLaneSections()) {
           LaneId min_lane = 0;
@@ -1212,20 +1224,21 @@ namespace road {
               min_lane = pairlane.first;
             }
           }
-          const auto max_lane = lane_section.GetLanes().rbegin()->first == 0 ?
-           -1 : lane_section.GetLanes().rbegin()->first;
+
           const road::Lane* lane = lane_section.GetLane(min_lane);
           if( lane ) {
             double s_current = lane_section.GetDistance() + s_offset;
             const double s_end = lane_section.GetDistance() + lane_section.GetLength();
             while(s_current < s_end){
-              const auto edges = lane->GetCornerPositions(s_current, 0);
-              geom::Vector3D director = edges.second - edges.first;
-              geom::Vector3D treeposition = edges.first - director.MakeUnitVector() * distancefromdrivinglineborder;
-              geom::Transform lanetransform = lane->ComputeTransform(s_current);
-              geom::Transform treeTransform(treeposition, lanetransform.rotation);
-              const carla::road::element::RoadInfoSpeed* roadinfo = lane->GetInfo<carla::road::element::RoadInfoSpeed>(s_current);
-              transforms.push_back(std::make_pair(treeTransform,roadinfo->GetType()));
+              if(lane->GetWidth(s_current) != 0.0f){
+                const auto edges = lane->GetCornerPositions(s_current, 0);
+                geom::Vector3D director = edges.second - edges.first;
+                geom::Vector3D treeposition = edges.first - director.MakeUnitVector() * distancefromdrivinglineborder;
+                geom::Transform lanetransform = lane->ComputeTransform(s_current);
+                geom::Transform treeTransform(treeposition, lanetransform.rotation);
+                const carla::road::element::RoadInfoSpeed* roadinfo = lane->GetInfo<carla::road::element::RoadInfoSpeed>(s_current);
+                transforms.push_back(std::make_pair(treeTransform,roadinfo->GetType()));
+              }
               s_current += distancebetweentrees;
             }
 
@@ -1275,15 +1288,19 @@ namespace road {
   /// Buids a list of meshes related with LineMarkings
   std::vector<std::unique_ptr<geom::Mesh>> Map::GenerateLineMarkings(
     const rpc::OpendriveGenerationParameters& params,
+    const geom::Vector3D& minpos,
+    const geom::Vector3D& maxpos,
     std::vector<std::string>& outinfo ) const
   {
     std::vector<std::unique_ptr<geom::Mesh>> LineMarks;
     geom::MeshFactory mesh_factory(params);
-    for ( auto&& pair : _data.GetRoads() ) {
-      if ( pair.second.IsJunction() ) {
-        continue;
+
+    const std::vector<RoadId> RoadsIDToGenerate = FilterRoadsByPosition(minpos, maxpos);
+    for ( RoadId id : RoadsIDToGenerate ) {
+      const auto& road = _data.GetRoads().at(id);
+      if (!road.IsJunction()) {
+        mesh_factory.GenerateLaneMarkForRoad(road, LineMarks, outinfo);
       }
-      mesh_factory.GenerateLaneMarkForRoad(pair.second, LineMarks, outinfo);
     }
 
     return std::move(LineMarks);
@@ -1308,91 +1325,126 @@ namespace road {
 
   std::map<road::Lane::LaneType, std::vector<std::unique_ptr<geom::Mesh>>>
       Map::GenerateRoadsMultithreaded( const carla::geom::MeshFactory& mesh_factory,
+                                        const std::vector<RoadId>& RoadsId,
                                         const size_t index, const size_t number_of_roads_per_thread) const
   {
     std::map<road::Lane::LaneType, std::vector<std::unique_ptr<geom::Mesh>>> out;
 
-    auto start = std::next( _data.GetRoads().begin(), (index ) * number_of_roads_per_thread);
+    size_t start = index * number_of_roads_per_thread;
     size_t endoffset = (index+1) * number_of_roads_per_thread;
-    if( endoffset >= _data.GetRoads().size() ) {
-      endoffset = _data.GetRoads().size();
-    }
-    auto end = std::next( _data.GetRoads().begin(), endoffset );
+    size_t end = RoadsId.size();
 
-    for (auto pair = start; pair != end && pair != _data.GetRoads().end(); ++pair) {
-      const auto& road = pair->second;
+    for (int i = start; i < endoffset && i < end; ++i) {
+      const auto& road = _data.GetRoads().at(RoadsId[i]);
       if (!road.IsJunction()) {
         mesh_factory.GenerateAllOrderedWithMaxLen(road, out);
       }
     }
+    std::cout << "Generated roads from " + std::to_string(index * number_of_roads_per_thread) + " to " + std::to_string((index+1) * number_of_roads_per_thread ) << std::endl;
     return out;
   }
 
   void Map::GenerateJunctions(const carla::geom::MeshFactory& mesh_factory,
     const rpc::OpendriveGenerationParameters& params,
+    const geom::Vector3D& minpos,
+    const geom::Vector3D& maxpos,
     std::map<road::Lane::LaneType,
     std::vector<std::unique_ptr<geom::Mesh>>>* junction_out_mesh_list) const {
 
-    for (const auto& junc_pair : _data.GetJunctions()) {
-      const auto& junction = junc_pair.second;
-      if (junction.GetConnections().size() > 2) {
-        std::vector<std::unique_ptr<geom::Mesh>> lane_meshes;
-        std::vector<std::unique_ptr<geom::Mesh>> sidewalk_lane_meshes;
-        std::vector<carla::geom::Vector3D> perimeterpoints;
+    std::vector<JuncId> JunctionsToGenerate = FilterJunctionsByPosition(minpos, maxpos);
+    size_t num_junctions = JunctionsToGenerate.size();
+    std::cout << "Generating " << std::to_string(num_junctions) << " junctions" << std::endl;
+    size_t junctionindex = 0;
+    size_t num_junctions_per_thread = 5;
+    size_t num_threads = (num_junctions / num_junctions_per_thread) + 1;
+    num_threads = num_threads > 1 ? num_threads : 1;
+    std::vector<std::thread> workers;
+    std::mutex write_mutex;
 
-        auto pmesh = SDFToMesh(junction, perimeterpoints, 75);
-        (*junction_out_mesh_list)[road::Lane::LaneType::Driving].push_back(std::move(pmesh));
+    for ( size_t i = 0; i < num_threads; ++i ) {
+      std::thread neworker(
+        [this, &write_mutex, &mesh_factory, &junction_out_mesh_list, JunctionsToGenerate, i, num_junctions_per_thread, num_junctions]() {
+        std::map<road::Lane::LaneType,
+          std::vector<std::unique_ptr<geom::Mesh>>> junctionsofthisthread;
 
-        for (const auto& connection_pair : junction.GetConnections()) {
-          const auto& connection = connection_pair.second;
-          const auto& road = _data.GetRoads().at(connection.connecting_road);
-          for (auto&& lane_section : road.GetLaneSections()) {
-            for (auto&& lane_pair : lane_section.GetLanes()) {
-              const auto& lane = lane_pair.second;
-              if (lane.GetType() == road::Lane::LaneType::Sidewalk) {
-                sidewalk_lane_meshes.push_back(mesh_factory.GenerateSidewalk(lane));
-              }
-            }
+        size_t minimum = 0;
+        if( (i + 1) * num_junctions_per_thread < num_junctions ){
+          minimum = (i + 1) * num_junctions_per_thread;
+        }else{
+          minimum = num_junctions;
+        }
+        std::cout << "Generating Junctions between  " << std::to_string(i * num_junctions_per_thread) << " and " << std::to_string(minimum) << std::endl;
+
+        for ( size_t junctionindex = i * num_junctions_per_thread;
+                        junctionindex < minimum;
+                        ++junctionindex )
+        {
+          GenerateSingleJunction(mesh_factory, JunctionsToGenerate[junctionindex], &junctionsofthisthread);
+        }
+        std::cout << "Generated Junctions between  " << std::to_string(i * num_junctions_per_thread) << " and " << std::to_string(minimum) << std::endl;
+        std::lock_guard<std::mutex> guard(write_mutex);
+        for ( auto&& pair : junctionsofthisthread ) {
+          if ((*junction_out_mesh_list).find(pair.first) != (*junction_out_mesh_list).end()) {
+            (*junction_out_mesh_list)[pair.first].insert((*junction_out_mesh_list)[pair.first].end(),
+              std::make_move_iterator(pair.second.begin()),
+              std::make_move_iterator(pair.second.end()));
+          } else {
+            (*junction_out_mesh_list)[pair.first] = std::move(pair.second);
           }
         }
-        std::unique_ptr<geom::Mesh> sidewalk_mesh = std::make_unique<geom::Mesh>();
-        for (auto& lane : sidewalk_lane_meshes) {
-          *sidewalk_mesh += *lane;
-        }
-        (*junction_out_mesh_list)[road::Lane::LaneType::Sidewalk].push_back(std::move(sidewalk_mesh));
-      } else {
-        std::vector<std::unique_ptr<geom::Mesh>> lane_meshes;
-        std::vector<std::unique_ptr<geom::Mesh>> sidewalk_lane_meshes;
-        for (const auto& connection_pair : junction.GetConnections()) {
-          const auto& connection = connection_pair.second;
-          const auto& road = _data.GetRoads().at(connection.connecting_road);
-          for (auto&& lane_section : road.GetLaneSections()) {
-            for (auto&& lane_pair : lane_section.GetLanes()) {
-              const auto& lane = lane_pair.second;
-              if (lane.GetType() != road::Lane::LaneType::Sidewalk) {
-                lane_meshes.push_back(mesh_factory.GenerateTesselated(lane));
-              }
-              else {
-                sidewalk_lane_meshes.push_back(mesh_factory.GenerateSidewalk(lane));
-              }
-            }
-          }
-        }
-        std::unique_ptr<geom::Mesh> merged_mesh = std::make_unique<geom::Mesh>();
-        for (auto& lane : lane_meshes) {
-          *merged_mesh += *lane;
-        }
-        std::unique_ptr<geom::Mesh> sidewalk_mesh = std::make_unique<geom::Mesh>();
-        for (auto& lane : sidewalk_lane_meshes) {
-          *sidewalk_mesh += *lane;
-        }
+      });
+      workers.push_back(std::move(neworker));
+    }
 
-        (*junction_out_mesh_list)[road::Lane::LaneType::Driving].push_back(std::move(merged_mesh));
-        (*junction_out_mesh_list)[road::Lane::LaneType::Sidewalk].push_back(std::move(sidewalk_mesh));
+    for (size_t i = 0; i < workers.size(); ++i) {
+      workers[i].join();
+    }
+    workers.clear();
+    for (size_t i = 0; i < workers.size(); ++i) {
+      if (workers[i].joinable()) {
+        workers[i].join();
       }
     }
   }
 
+  std::vector<JuncId> Map::FilterJunctionsByPosition( const geom::Vector3D& minpos,
+    const geom::Vector3D& maxpos ) const {
+
+    std::cout << "Filtered from " + std::to_string(_data.GetJunctions().size() ) + " junctions " << std::endl;
+    std::vector<JuncId> ToReturn;
+    for( auto& junction : _data.GetJunctions() ){
+      geom::Location junctionLocation = junction.second.GetBoundingBox().location;
+      if( minpos.x < junctionLocation.x && junctionLocation.x < maxpos.x &&
+            minpos.y > junctionLocation.y && junctionLocation.y > maxpos.y ) {
+        ToReturn.push_back(junction.first);
+      }
+    }
+    std::cout << "To " + std::to_string(ToReturn.size() ) + " junctions " << std::endl;
+
+    return ToReturn;
+  }
+
+  std::vector<RoadId> Map::FilterRoadsByPosition( const geom::Vector3D& minpos,
+    const geom::Vector3D& maxpos ) const {
+
+    std::vector<RoadId> ToReturn;
+    std::cout << "Filtered from " + std::to_string(_data.GetRoads().size() ) + " roads " << std::endl;
+    for( auto& road : _data.GetRoads() ){
+      auto &&lane_section = (*road.second.GetLaneSections().begin());
+      const road::Lane* lane = lane_section.GetLane(-1);
+      if( lane ) {
+        const double s_check = lane_section.GetDistance() + lane_section.GetLength() * 0.5;
+        geom::Location roadLocation = lane->ComputeTransform(s_check).location;
+        if( minpos.x < roadLocation.x && roadLocation.x < maxpos.x &&
+              minpos.y > roadLocation.y && roadLocation.y > maxpos.y ) {
+          ToReturn.push_back(road.first);
+        }
+      }
+    }
+    std::cout << "To " + std::to_string(ToReturn.size() ) + " roads " << std::endl;
+    return ToReturn;
+  }
+
   std::unique_ptr<geom::Mesh> Map::SDFToMesh(const road::Junction& jinput,
     const std::vector<geom::Vector3D>& sdfinput,
     int grid_cells_per_dim) const {
@@ -1441,42 +1493,18 @@ namespace road {
     geom::Mesh out_mesh;
 
     for (auto& cv : mesh.vertices) {
-
       geom::Vector3D newvertex;
       newvertex.x = cv.x;
       newvertex.y = cv.y;
       newvertex.z = cv.z;
-      if ( std::find( out_mesh.GetVertices().begin(), out_mesh.GetVertices().end(), newvertex) == out_mesh.GetVertices().end() ) {
-        out_mesh.AddVertex(newvertex);
-      }
+      out_mesh.AddVertex(newvertex);
     }
 
     auto finalvertices = out_mesh.GetVertices();
     for (auto ct : mesh.triangles) {
-      auto cv = mesh.vertices[ct[1]];
-      geom::Vector3D newvertex;
-      newvertex.x = cv.x;
-      newvertex.y = cv.y;
-      newvertex.z = cv.z;
-
-      auto it = std::find(finalvertices.begin(), finalvertices.end(), newvertex);
-      out_mesh.AddIndex(it - finalvertices.begin() + 1);
-
-      cv = mesh.vertices[ct[0]];
-      newvertex.x = cv.x;
-      newvertex.y = cv.y;
-      newvertex.z = cv.z;
-
-      it = std::find(finalvertices.begin(), finalvertices.end(), newvertex);
-      out_mesh.AddIndex(it - finalvertices.begin() + 1);
-
-      cv = mesh.vertices[ct[2]];
-      newvertex.x = cv.x;
-      newvertex.y = cv.y;
-      newvertex.z = cv.z;
-
-      it = std::find(finalvertices.begin(), finalvertices.end(), newvertex);
-      out_mesh.AddIndex(it - finalvertices.begin() + 1);
+      out_mesh.AddIndex(ct[1] + 1);
+      out_mesh.AddIndex(ct[0] + 1);
+      out_mesh.AddIndex(ct[2] + 1);
     }
 
     for (auto& cv : out_mesh.GetVertices() ) {
@@ -1493,5 +1521,73 @@ namespace road {
     }
     return std::make_unique<geom::Mesh>(out_mesh);
   }
+
+  void Map::GenerateSingleJunction(const carla::geom::MeshFactory& mesh_factory,
+      const JuncId Id,
+      std::map<road::Lane::LaneType, std::vector<std::unique_ptr<geom::Mesh>>>*
+      junction_out_mesh_list) const {
+
+      const auto& junction = _data.GetJunctions().at(Id);
+      if (junction.GetConnections().size() > 2) {
+        std::vector<std::unique_ptr<geom::Mesh>> lane_meshes;
+        std::vector<std::unique_ptr<geom::Mesh>> sidewalk_lane_meshes;
+        std::vector<carla::geom::Vector3D> perimeterpoints;
+
+        auto pmesh = SDFToMesh(junction, perimeterpoints, 75);
+        (*junction_out_mesh_list)[road::Lane::LaneType::Driving].push_back(std::move(pmesh));
+
+        for (const auto& connection_pair : junction.GetConnections()) {
+          const auto& connection = connection_pair.second;
+          const auto& road = _data.GetRoads().at(connection.connecting_road);
+          for (auto&& lane_section : road.GetLaneSections()) {
+            for (auto&& lane_pair : lane_section.GetLanes()) {
+              const auto& lane = lane_pair.second;
+              if ( lane.GetType() == road::Lane::LaneType::Sidewalk ) {
+                boost::optional<element::Waypoint> sw =
+                  GetWaypoint(road.GetId(), lane_pair.first, lane.GetDistance() + (lane.GetLength() * 0.5f));
+                if( GetWaypoint(ComputeTransform(*sw).location).get_ptr () == nullptr ){
+                  sidewalk_lane_meshes.push_back(mesh_factory.GenerateSidewalk(lane));
+                }
+              }
+            }
+          }
+        }
+        std::unique_ptr<geom::Mesh> sidewalk_mesh = std::make_unique<geom::Mesh>();
+        for (auto& lane : sidewalk_lane_meshes) {
+          *sidewalk_mesh += *lane;
+        }
+        (*junction_out_mesh_list)[road::Lane::LaneType::Sidewalk].push_back(std::move(sidewalk_mesh));
+      } else {
+        std::vector<std::unique_ptr<geom::Mesh>> lane_meshes;
+        std::vector<std::unique_ptr<geom::Mesh>> sidewalk_lane_meshes;
+        for (const auto& connection_pair : junction.GetConnections()) {
+          const auto& connection = connection_pair.second;
+          const auto& road = _data.GetRoads().at(connection.connecting_road);
+          for (auto&& lane_section : road.GetLaneSections()) {
+            for (auto&& lane_pair : lane_section.GetLanes()) {
+              const auto& lane = lane_pair.second;
+              if (lane.GetType() != road::Lane::LaneType::Sidewalk) {
+                lane_meshes.push_back(mesh_factory.GenerateTesselated(lane));
+              }
+              else {
+                sidewalk_lane_meshes.push_back(mesh_factory.GenerateSidewalk(lane));
+              }
+            }
+          }
+        }
+        std::unique_ptr<geom::Mesh> merged_mesh = std::make_unique<geom::Mesh>();
+        for (auto& lane : lane_meshes) {
+          *merged_mesh += *lane;
+        }
+        std::unique_ptr<geom::Mesh> sidewalk_mesh = std::make_unique<geom::Mesh>();
+        for (auto& lane : sidewalk_lane_meshes) {
+          *sidewalk_mesh += *lane;
+        }
+
+        (*junction_out_mesh_list)[road::Lane::LaneType::Driving].push_back(std::move(merged_mesh));
+        (*junction_out_mesh_list)[road::Lane::LaneType::Sidewalk].push_back(std::move(sidewalk_mesh));
+      }
+    }
+
 } // namespace road
 } // namespace carla

LibCarla/source/carla/road/Map.h

@@ -16,6 +16,7 @@
 #include "carla/road/MapData.h"
 #include "carla/road/RoadTypes.h"
 #include "carla/road/MeshFactory.h"
+#include "carla/geom/Vector3D.h"
 #include "carla/rpc/OpendriveGenerationParameters.h"
 
 #include <boost/optional.hpp>
@@ -161,12 +162,16 @@ namespace road {
         const rpc::OpendriveGenerationParameters& params) const;
 
     std::map<road::Lane::LaneType , std::vector<std::unique_ptr<geom::Mesh>>>
-      GenerateOrderedChunkedMesh( const rpc::OpendriveGenerationParameters& params) const;
+      GenerateOrderedChunkedMeshInLocations( const rpc::OpendriveGenerationParameters& params,
+                                             const geom::Vector3D& minpos,
+                                             const geom::Vector3D& maxpos) const;
 
     /// Buids a mesh of all crosswalks based on the OpenDRIVE
     geom::Mesh GetAllCrosswalkMesh() const;
 
     std::vector<std::pair<geom::Transform, std::string>> GetTreesTransform(
+      const geom::Vector3D& minpos,
+      const geom::Vector3D& maxpos,
       float distancebetweentrees,
       float distancefromdrivinglineborder,
       float s_offset = 0) const;
@@ -176,6 +181,8 @@ namespace road {
     /// Buids a list of meshes related with LineMarkings
     std::vector<std::unique_ptr<geom::Mesh>> GenerateLineMarkings(
       const rpc::OpendriveGenerationParameters& params,
+      const geom::Vector3D& minpos,
+      const geom::Vector3D& maxpos,
       std::vector<std::string>& outinfo ) const;
 
     const std::unordered_map<SignId, std::unique_ptr<Signal>>& GetSignals() const {
@@ -223,15 +230,32 @@ public:
 
     std::map<road::Lane::LaneType, std::vector<std::unique_ptr<geom::Mesh>>>
       GenerateRoadsMultithreaded( const carla::geom::MeshFactory& mesh_factory,
-                                   const size_t index, const size_t number_of_roads_per_thread) const;
+        const std::vector<RoadId>& RoadsID,
+        const size_t index,
+        const size_t number_of_roads_per_thread) const;
 
     void GenerateJunctions(const carla::geom::MeshFactory& mesh_factory,
       const rpc::OpendriveGenerationParameters& params,
+      const geom::Vector3D& minpos,
+      const geom::Vector3D& maxpos,
       std::map<road::Lane::LaneType, std::vector<std::unique_ptr<geom::Mesh>>>*
       juntion_out_mesh_list) const;
 
-    std::unique_ptr<geom::Mesh> SDFToMesh(const road::Junction& jinput, const std::vector<geom::Vector3D>& sdfinput, int grid_cells_per_dim) const;
+    void GenerateSingleJunction(const carla::geom::MeshFactory& mesh_factory,
+      const JuncId Id,
+      std::map<road::Lane::LaneType, std::vector<std::unique_ptr<geom::Mesh>>>*
+      junction_out_mesh_list) const;
 
+    // Return list of junction ID which are between those positions
+    std::vector<JuncId> FilterJunctionsByPosition(
+      const geom::Vector3D& minpos,
+      const geom::Vector3D& maxpos) const;
+    // Return list of roads ID which are between those positions
+    std::vector<RoadId> FilterRoadsByPosition(
+      const geom::Vector3D& minpos,
+      const geom::Vector3D& maxpos ) const;
+
+    std::unique_ptr<geom::Mesh> SDFToMesh(const road::Junction& jinput, const std::vector<geom::Vector3D>& sdfinput, int grid_cells_per_dim) const;
   };
 
 } // namespace road

LibCarla/source/carla/road/MapBuilder.cpp

@@ -825,11 +825,16 @@ namespace road {
     for(const auto& junction : _map_data._junctions) {
       for(const auto& controller : junction.second._controllers) {
         auto it = _map_data._controllers.find(controller);
-        DEBUG_ASSERT(it != _map_data._controllers.end());
-        it->second->_junctions.insert(junction.first);
-        for(const auto & signal : it->second->_signals) {
-          auto signal_it = _map_data._signals.find(signal);
-          signal_it->second->_controllers.insert(controller);
+        if(it != _map_data._controllers.end()){
+          if( it->second != nullptr ){
+            it->second->_junctions.insert(junction.first);
+            for(const auto & signal : it->second->_signals) {
+              auto signal_it = _map_data._signals.find(signal);
+              if( signal_it->second != nullptr ){
+                signal_it->second->_controllers.insert(controller);
+              }
+            }
+          }
         }
       }
     }
@@ -1052,7 +1057,7 @@ void MapBuilder::CreateController(
         continue;
       }
       if(closest_waypoint_to_signal) {
-        auto road_transform = map.ComputeTransform(closest_waypoint_to_signal.get()); 
+        auto road_transform = map.ComputeTransform(closest_waypoint_to_signal.get());
         auto distance_to_road = (road_transform.location -signal_position).Length();
         double lane_width = map.GetLaneWidth(closest_waypoint_to_signal.get());
         int displacement_direction = 1;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/BlueprintLibary/MapGenFunctionLibrary.cpp

@@ -0,0 +1,228 @@
+// 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 "MapGenFunctionLibrary.h"
+
+// Engine headers
+#include "AssetRegistry/AssetRegistryModule.h"
+#include "Materials/MaterialInstance.h"
+#include "StaticMeshAttributes.h"
+#include "RenderingThread.h"
+// Carla C++ headers
+
+// Carla plugin headers
+
+
+DEFINE_LOG_CATEGORY(LogCarlaMapGenFunctionLibrary);
+static const float OSMToCentimetersScaleFactor = 100.0f;
+
+FMeshDescription UMapGenFunctionLibrary::BuildMeshDescriptionFromData(
+  const FProceduralCustomMesh& Data,
+  const TArray<FProcMeshTangent>& ParamTangents,
+  UMaterialInstance* MaterialInstance  )
+{
+
+  int32 VertexCount = Data.Vertices.Num();
+  int32 VertexInstanceCount = Data.Triangles.Num();
+  int32 PolygonCount = Data.Vertices.Num()/3;
+
+	FMeshDescription MeshDescription;
+  FStaticMeshAttributes AttributeGetter(MeshDescription);
+  AttributeGetter.Register();
+
+  TPolygonGroupAttributesRef<FName> PolygonGroupNames = AttributeGetter.GetPolygonGroupMaterialSlotNames();
+  TVertexAttributesRef<FVector> VertexPositions = AttributeGetter.GetVertexPositions();
+  TVertexInstanceAttributesRef<FVector> Tangents = AttributeGetter.GetVertexInstanceTangents();
+  TVertexInstanceAttributesRef<float> BinormalSigns = AttributeGetter.GetVertexInstanceBinormalSigns();
+  TVertexInstanceAttributesRef<FVector> Normals = AttributeGetter.GetVertexInstanceNormals();
+  TVertexInstanceAttributesRef<FVector4> Colors = AttributeGetter.GetVertexInstanceColors();
+  TVertexInstanceAttributesRef<FVector2D> UVs = AttributeGetter.GetVertexInstanceUVs();
+
+  // Calculate the totals for each ProcMesh element type
+  FPolygonGroupID PolygonGroupForSection;
+  MeshDescription.ReserveNewVertices(VertexCount);
+  MeshDescription.ReserveNewVertexInstances(VertexInstanceCount);
+  MeshDescription.ReserveNewPolygons(PolygonCount);
+  MeshDescription.ReserveNewEdges(PolygonCount * 2);
+  UVs.SetNumIndices(4);
+
+  // Create Materials
+  TMap<UMaterialInterface*, FPolygonGroupID> UniqueMaterials;
+	const int32 NumSections = 1;
+	UniqueMaterials.Reserve(1);
+  FPolygonGroupID NewPolygonGroup = MeshDescription.CreatePolygonGroup();
+
+  if( MaterialInstance != nullptr ){
+    UMaterialInterface *Material = MaterialInstance;
+    UniqueMaterials.Add(Material, NewPolygonGroup);
+    PolygonGroupNames[NewPolygonGroup] = Material->GetFName();
+  }else{
+    UE_LOG(LogCarla, Error, TEXT("MaterialInstance is nullptr"));
+  }
+  PolygonGroupForSection = NewPolygonGroup;
+
+
+
+  // Create the vertex
+  int32 NumVertex = Data.Vertices.Num();
+  TMap<int32, FVertexID> VertexIndexToVertexID;
+  VertexIndexToVertexID.Reserve(NumVertex);
+  for (int32 VertexIndex = 0; VertexIndex < NumVertex; ++VertexIndex)
+  {
+    const FVector &Vert = Data.Vertices[VertexIndex];
+    const FVertexID VertexID = MeshDescription.CreateVertex();
+    VertexPositions[VertexID] = Vert;
+    VertexIndexToVertexID.Add(VertexIndex, VertexID);
+  }
+
+  // Create the VertexInstance
+  int32 NumIndices = Data.Triangles.Num();
+  int32 NumTri = NumIndices / 3;
+  TMap<int32, FVertexInstanceID> IndiceIndexToVertexInstanceID;
+  IndiceIndexToVertexInstanceID.Reserve(NumVertex);
+  for (int32 IndiceIndex = 0; IndiceIndex < NumIndices; IndiceIndex++)
+  {
+    const int32 VertexIndex = Data.Triangles[IndiceIndex];
+    const FVertexID VertexID = VertexIndexToVertexID[VertexIndex];
+    const FVertexInstanceID VertexInstanceID =
+    MeshDescription.CreateVertexInstance(VertexID);
+    IndiceIndexToVertexInstanceID.Add(IndiceIndex, VertexInstanceID);
+    Normals[VertexInstanceID] = Data.Normals[VertexIndex];
+
+    if(ParamTangents.Num() == Data.Vertices.Num())
+    {
+      Tangents[VertexInstanceID] = ParamTangents[VertexIndex].TangentX;
+      BinormalSigns[VertexInstanceID] =
+        ParamTangents[VertexIndex].bFlipTangentY ? -1.f : 1.f;
+    }else{
+
+    }
+    Colors[VertexInstanceID] = FLinearColor(0,0,0);
+    if(Data.UV0.Num() == Data.Vertices.Num())
+    {
+      UVs.Set(VertexInstanceID, 0, Data.UV0[VertexIndex]);
+    }else{
+      UVs.Set(VertexInstanceID, 0, FVector2D(0,0));
+    }
+    UVs.Set(VertexInstanceID, 1, FVector2D(0,0));
+    UVs.Set(VertexInstanceID, 2, FVector2D(0,0));
+    UVs.Set(VertexInstanceID, 3, FVector2D(0,0));
+  }
+
+  for (int32 TriIdx = 0; TriIdx < NumTri; TriIdx++)
+  {
+    FVertexID VertexIndexes[3];
+    TArray<FVertexInstanceID> VertexInstanceIDs;
+    VertexInstanceIDs.SetNum(3);
+
+    for (int32 CornerIndex = 0; CornerIndex < 3; ++CornerIndex)
+    {
+      const int32 IndiceIndex = (TriIdx * 3) + CornerIndex;
+      const int32 VertexIndex = Data.Triangles[IndiceIndex];
+      VertexIndexes[CornerIndex] = VertexIndexToVertexID[VertexIndex];
+      VertexInstanceIDs[CornerIndex] =
+        IndiceIndexToVertexInstanceID[IndiceIndex];
+    }
+
+    // Insert a polygon into the mesh
+    MeshDescription.CreatePolygon(NewPolygonGroup, VertexInstanceIDs);
+
+  }
+
+  return MeshDescription;
+}
+
+UStaticMesh* UMapGenFunctionLibrary::CreateMesh(
+    const FProceduralCustomMesh& Data,
+    const TArray<FProcMeshTangent>& ParamTangents,
+    UMaterialInstance* MaterialInstance,
+    FString MapName,
+    FString FolderName,
+    FName MeshName)
+{
+  IPlatformFile& PlatformFile = FPlatformFileManager::Get().GetPlatformFile();
+
+  UStaticMesh::FBuildMeshDescriptionsParams Params;
+  Params.bBuildSimpleCollision = true;
+
+  FString PackageName = "/Game/CustomMaps/" + MapName + "/Static/" + FolderName + "/" + MeshName.ToString();
+
+  if (!PlatformFile.DirectoryExists(*PackageName))
+  {
+    //PlatformFile.CreateDirectory(*PackageName);
+  }
+
+
+  FMeshDescription Description = BuildMeshDescriptionFromData(Data,ParamTangents, MaterialInstance);
+
+  if (Description.Polygons().Num() > 0)
+  {
+    UPackage* Package = CreatePackage(*PackageName);
+    check(Package);
+    UStaticMesh* Mesh = NewObject<UStaticMesh>( Package, MeshName, RF_Public | RF_Standalone);
+
+    Mesh->InitResources();
+
+    Mesh->LightingGuid = FGuid::NewGuid();
+    Mesh->StaticMaterials.Add(FStaticMaterial(MaterialInstance));
+    Mesh->BuildFromMeshDescriptions({ &Description }, Params);
+    Mesh->CreateBodySetup();
+    Mesh->BodySetup->CollisionTraceFlag = ECollisionTraceFlag::CTF_UseComplexAsSimple;
+    Mesh->BodySetup->CreatePhysicsMeshes();
+    // Build mesh from source
+    Mesh->NeverStream = false;
+    TArray<UObject*> CreatedAssets;
+    CreatedAssets.Add(Mesh);
+
+    // Notify asset registry of new asset
+    FAssetRegistryModule::AssetCreated(Mesh);
+    //UPackage::SavePackage(Package, Mesh, EObjectFlags::RF_Public | EObjectFlags::RF_Standalone, *(MeshName.ToString()), GError, nullptr, true, true, SAVE_NoError);
+    Package->MarkPackageDirty();
+    return Mesh;
+  }
+  return nullptr;
+}
+
+FVector2D UMapGenFunctionLibrary::GetTransversemercProjection(float lat, float lon, float lat0, float lon0)
+{
+  // earth radius in m
+  const float R = 6373000.0f;
+  float latt = FMath::DegreesToRadians(lat);
+  float lonn  = FMath::DegreesToRadians(lon - lon0);
+  float latt0 = FMath::DegreesToRadians(lat0);
+  float eps = atan(tan(latt)/cos(lonn));
+  float nab = asinh(sin(lonn)/sqrt(tan(latt)*tan(latt)+cos(lonn)*cos(lonn)));
+  float x = R*nab;
+  float y = R*eps;
+  float eps0 = atan(tan(latt0)/cos(0));
+  float nab0 = asinh(sin(0)/sqrt(tan(latt0)*tan(latt0)+cos(0)*cos(0)));
+  float x0 = R*nab0;
+  float y0 = R*eps0;
+  FVector2D Result = FVector2D(x, -(y - y0)) * OSMToCentimetersScaleFactor;
+
+  return Result;
+}
+
+void UMapGenFunctionLibrary::SetThreadToSleep(float seconds){
+  //FGenericPlatformProcess::Sleep(seconds);
+}
+
+void UMapGenFunctionLibrary::FlushRenderingCommandsInBlueprint(){
+  FlushRenderingCommands(true);
+ 	FlushPendingDeleteRHIResources_GameThread();
+}
+
+void UMapGenFunctionLibrary::CleanupGEngine(){
+  GEngine->PerformGarbageCollectionAndCleanupActors();
+#if WITH_EDITOR
+  FText TransResetText(FText::FromString("Clean up after Move actors to sublevels"));
+  if ( GEditor->Trans )
+  {
+    GEditor->Trans->Reset(TransResetText);
+    GEditor->Cleanse(true, true, TransResetText);
+  }
+#endif
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/BlueprintLibary/MapGenFunctionLibrary.h

@@ -0,0 +1,54 @@
+// 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
+
+// Engine headers
+#include "CoreMinimal.h"
+#include "Kismet/BlueprintFunctionLibrary.h"
+#include "MeshDescription.h"
+#include "ProceduralMeshComponent.h"
+// Carla C++ headers
+
+// Carla plugin headers
+#include "Carla/Util/ProceduralCustomMesh.h"
+
+#include "MapGenFunctionLibrary.generated.h"
+
+
+DECLARE_LOG_CATEGORY_EXTERN(LogCarlaMapGenFunctionLibrary, Log, All);
+
+UCLASS(BlueprintType)
+class CARLA_API UMapGenFunctionLibrary : public UBlueprintFunctionLibrary
+{
+  GENERATED_BODY()
+public:
+  UFUNCTION(BlueprintCallable)
+  static UStaticMesh* CreateMesh(
+      const FProceduralCustomMesh& Data,
+      const TArray<FProcMeshTangent>& ParamTangents,
+      UMaterialInstance* MaterialInstance,
+      FString MapName,
+      FString FolderName,
+      FName MeshName);
+
+  static FMeshDescription BuildMeshDescriptionFromData(
+      const FProceduralCustomMesh& Data,
+      const TArray<FProcMeshTangent>& ParamTangents,
+      UMaterialInstance* MaterialInstance );
+
+  UFUNCTION(BlueprintCallable)
+  static FVector2D GetTransversemercProjection(float lat, float lon, float lat0, float lon0);
+
+  UFUNCTION(BlueprintCallable)
+  static void SetThreadToSleep(float seconds);
+
+  UFUNCTION(BlueprintCallable)
+  static void FlushRenderingCommandsInBlueprint();
+
+  UFUNCTION(BlueprintCallable)
+  static void CleanupGEngine();
+};

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ProceduralCustomMesh.h

@@ -9,24 +9,24 @@
 #include "ProceduralCustomMesh.generated.h"
 
 /// A definition of a Carla Mesh.
-USTRUCT()
+USTRUCT(Blueprintable)
 struct CARLA_API FProceduralCustomMesh
 {
   GENERATED_BODY()
 
-  UPROPERTY()
+  UPROPERTY(BlueprintReadWrite, EditAnywhere, Category="VertexData")
   TArray<FVector> Vertices;
 
-  UPROPERTY()
+  UPROPERTY(BlueprintReadWrite, EditAnywhere, Category="VertexData")
   TArray<int32> Triangles;
 
-  UPROPERTY()
+  UPROPERTY(BlueprintReadWrite, EditAnywhere, Category="VertexData")
   TArray<FVector> Normals;
 
-  UPROPERTY()
+  UPROPERTY(BlueprintReadWrite, EditAnywhere, Category="VertexData")
   TArray<FVector2D> UV0;
 
-  UPROPERTY()
+  UPROPERTY(BlueprintReadWrite, EditAnywhere, Category="VertexData")
   TArray<FLinearColor> VertexColor;
 
   // This is commented due to an strange bug including ProceduralMeshComponent.h

Unreal/CarlaUE4/Plugins/CarlaTools/CarlaTools.uplugin

@@ -18,7 +18,7 @@
 		{
 			"Name": "CarlaTools",
 			"Type": "Editor",
-			"LoadingPhase": "PostEngineInit"
+			"LoadingPhase": "Default"
 		}
 	],
 	"Plugins": [
@@ -37,6 +37,10 @@
 		{
 			"Name": "ProceduralMeshComponent",
 			"Enabled": true
+		},
+    {
+			"Name": "StreetMap",
+			"Enabled": true
 		}
 	]
 }

Unreal/CarlaUE4/Plugins/CarlaTools/Content/Python/generate_tile.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python
+import unreal
+import argparse
+import json
+import os
+import subprocess
+
+
+"""Generic function for running a commandlet with its arguments."""
+ue4_path = os.environ["UE4_ROOT"]
+uproject_path = unreal.Paths.project_dir() + ("CarlaUE4.uproject")
+run = "-run=%s" % ("GenerateTileCommandlet")
+
+print("Before any Commandlet:")
+
+argparser = argparse.ArgumentParser()
+
+argparser.add_argument(
+    '-s', '--paramstring',
+    metavar='S',
+    default='',
+    type=str,
+    help='String to put as arguments')
+args = argparser.parse_args()
+
+arguments = args.paramstring
+
+if os.name == "nt":
+    sys_name = "Win64"
+    editor_path = "%s/Engine/Binaries/%s/UE4Editor" % (ue4_path, sys_name)
+    command = [editor_path, uproject_path, run]
+    command.extend(arguments)
+    print("Commandlet:", command)
+    print("Arguments:", arguments)
+    subprocess.check_call(command, shell=True)
+elif os.name == "posix":
+    sys_name = "Linux"
+    editor_path = "%s/Engine/Binaries/%s/UE4Editor" % (ue4_path, sys_name)
+    full_command = editor_path + " " + uproject_path + " " + run + " " + arguments
+    print("Commandlet:", full_command)
+    print("Arguments:", arguments)
+    subprocess.call([full_command], shell=True)
+

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

@@ -44,15 +44,15 @@ public class CarlaTools : ModuleRules
 				// ... add public include paths required here ...
 			}
 			);
-				
-		
+
+
 		PrivateIncludePaths.AddRange(
 			new string[] {
 				// ... add other private include paths required here ...
 			}
 			);
-			
-		
+
+
 		PublicDependencyModuleNames.AddRange(
 			new string[]
 			{
@@ -64,8 +64,8 @@ public class CarlaTools : ModuleRules
 				// ... add other public dependencies that you statically link with here ...
 			}
 			);
-			
-		
+
+
 		PrivateDependencyModuleNames.AddRange(
 			new string[]
 			{
@@ -82,15 +82,19 @@ public class CarlaTools : ModuleRules
 				"FoliageEdit",
         "MeshMergeUtilities",
 				"Carla",
+        "StaticMeshDescription",
 				"PhysXVehicles",
         "Json",
         "JsonUtilities",
         "Networking",
         "Sockets",
+        "HTTP",
         "RHI",
         "RenderCore",
-        "MeshMergeUtilities"
-				// ... add private dependencies that you statically link with here ...	
+        "MeshMergeUtilities",
+        "StreetMapImporting",
+        "StreetMapRuntime"
+				// ... add private dependencies that you statically link with here ...
 			}
 			);
     if(UsingHoudini)
@@ -145,7 +149,7 @@ public class CarlaTools : ModuleRules
     foreach (string file in files)
     {
       PublicAdditionalLibraries.Add(file);
-    } 
+    }
   }
 
 

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Private/Commandlet/GenerateTileCommandlet.cpp

@@ -0,0 +1,84 @@
+// Copyright (c) 2021 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 "GenerateTileCommandlet.h"
+
+#include <iostream>
+#include <fstream>
+
+#if WITH_EDITOR
+#include "FileHelpers.h"
+#endif
+#include "UObject/ConstructorHelpers.h"
+
+DEFINE_LOG_CATEGORY(LogCarlaToolsMapGenerateTileCommandlet);
+
+
+UGenerateTileCommandlet::UGenerateTileCommandlet()
+{
+#if WITH_EDITOR
+  ConstructorHelpers::FClassFinder<UOpenDriveToMap> OpenDrivelassFinder(TEXT("/CarlaTools/OnroadMapGenerator/BP_OpenDriveToMap"));
+  OpenDriveClass = OpenDrivelassFinder.Class;
+#endif
+}
+
+UGenerateTileCommandlet::UGenerateTileCommandlet(const FObjectInitializer& Initializer)
+  : Super(Initializer)
+{
+#if WITH_EDITOR
+  ConstructorHelpers::FClassFinder<UOpenDriveToMap> OpenDrivelassFinder(TEXT("/CarlaTools/OnroadMapGenerator/BP_OpenDriveToMap"));
+  OpenDriveClass = OpenDrivelassFinder.Class;
+#endif
+}
+
+#if WITH_EDITORONLY_DATA
+
+int32 UGenerateTileCommandlet::Main(const FString &Params)
+{
+  UE_LOG(LogCarlaToolsMapGenerateTileCommandlet, Log, TEXT("UGenerateTileCommandlet::Main Arguments %s"), *Params);
+  TArray<FString> Tokens;
+  TArray<FString> Switches;
+  TMap<FString,FString> ParamsMap;
+
+  ParseCommandLine(*Params, Tokens, Switches, ParamsMap );
+
+  std::string logstr = std::string(TCHAR_TO_UTF8(*Params));
+  std::ofstream file("CommandletParameters.txt", std::ios::app);
+  file << logstr << std::endl;
+
+  for( auto fstr : Tokens )
+  {
+    logstr = std::string(TCHAR_TO_UTF8(*fstr));
+    file << " Tokens " << logstr << std::endl;
+  }
+
+  for( auto fstr : Switches )
+  {
+    logstr = std::string(TCHAR_TO_UTF8(*fstr));
+    file << " SWITCHES " << logstr << std::endl;
+  }
+
+  for( auto PairMap : ParamsMap )
+  {
+    std::string key = std::string(TCHAR_TO_UTF8(*PairMap.Key));
+    std::string value = std::string(TCHAR_TO_UTF8(*PairMap.Value));
+
+    file << "Key: " << key << " Value: " << value << std::endl;
+  }
+
+
+
+  OpenDriveMap = NewObject<UOpenDriveToMap>(this, OpenDriveClass);
+  OpenDriveMap->FilePath = ParamsMap["FilePath"];
+  OpenDriveMap->BaseLevelName = ParamsMap["BaseLevelName"];
+  OpenDriveMap->OriginGeoCoordinates = FVector2D(FCString::Atof(*ParamsMap["GeoCoordsX"]),FCString::Atof(*ParamsMap["GeoCoordsY"]));
+  OpenDriveMap->CurrentTilesInXY = FIntVector(FCString::Atof(*ParamsMap["CTileX"]),FCString::Atof(*ParamsMap["CTileY"]), 0);
+  // Parse Params
+  OpenDriveMap->GenerateTile();
+  return 0;
+}
+
+#endif

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

@@ -0,0 +1,32 @@
+// 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 "DigitalTwinsBaseWidget.h"
+
+#include "OpenDriveToMap.h"
+
+static UOpenDriveToMap* OpenDriveToMapObject = nullptr;
+
+UOpenDriveToMap* UDigitalTwinsBaseWidget::InitializeOpenDriveToMap(TSubclassOf<UOpenDriveToMap> BaseClass){
+  if( OpenDriveToMapObject == nullptr && BaseClass != nullptr ){
+    UE_LOG(LogCarlaTools, Error, TEXT("Creating New Object") );
+    OpenDriveToMapObject = NewObject<UOpenDriveToMap>(this, BaseClass);
+  }
+  return OpenDriveToMapObject;
+}
+
+UOpenDriveToMap* UDigitalTwinsBaseWidget::GetOpenDriveToMap(){
+  return OpenDriveToMapObject;
+}
+
+void UDigitalTwinsBaseWidget::SetOpenDriveToMap(UOpenDriveToMap* ToSet){
+  OpenDriveToMapObject = ToSet;
+}
+
+void UDigitalTwinsBaseWidget::DestroyOpenDriveToMap(){
+  OpenDriveToMapObject->ConditionalBeginDestroy();
+  OpenDriveToMapObject = nullptr;
+}

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

@@ -10,6 +10,7 @@
 #include "Kismet/GameplayStatics.h"
 #include "Kismet/KismetSystemLibrary.h"
 #include "FileHelpers.h"
+#include "EditorLevelLibrary.h"
 #include "Components/PrimitiveComponent.h"
 
 void UHoudiniImporterWidget::CreateSubLevels(ALargeMapManager* LargeMapManager)
@@ -46,8 +47,8 @@ void UHoudiniImporterWidget::MoveActorsToSubLevelWithLargeMap(TArray<AActor*> Ac
     FCarlaMapTile* Tile = LargeMapManager->GetCarlaMapTile(ActorLocation);
     if(!Tile)
     {
-      UE_LOG(LogCarlaTools, Error, TEXT("Error: actor in location %s is outside the map"),
-          *ActorLocation.ToString());
+      UE_LOG(LogCarlaTools, Error, TEXT("Error: actor %s in location %s is outside the map"),
+          *Actor->GetName(),*ActorLocation.ToString());
       continue;
     }
 
@@ -70,14 +71,13 @@ void UHoudiniImporterWidget::MoveActorsToSubLevelWithLargeMap(TArray<AActor*> Ac
     {
       continue;
     }
-    UWorld* World = ActorList[0]->GetWorld();
+
+    UWorld* World = UEditorLevelLibrary::GetEditorWorld();
     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 = 
+    ULevelStreaming* Level =
         UEditorLevelUtils::AddLevelToWorld(
         World, *Tile->Name, ULevelStreamingDynamic::StaticClass(), FTransform());
     int MovedActors = UEditorLevelUtils::MoveActorsToLevel(ActorList, Level, false, false);
@@ -86,15 +86,51 @@ void UHoudiniImporterWidget::MoveActorsToSubLevelWithLargeMap(TArray<AActor*> Ac
     FEditorFileUtils::SaveDirtyPackages(false, true, true, false, false, false, nullptr);
     UEditorLevelUtils::RemoveLevelFromWorld(Level->GetLoadedLevel());
   }
+
+  GEngine->PerformGarbageCollectionAndCleanupActors();
+  FText TransResetText(FText::FromString("Clean up after Move actors to sublevels"));
+  if ( GEditor->Trans )
+  {
+    GEditor->Trans->Reset(TransResetText);
+    GEditor->Cleanse(true, true, TransResetText);
+  }
+}
+
+void UHoudiniImporterWidget::ForceStreamingLevelsToUnload( ALargeMapManager* LargeMapManager )
+{
+  UWorld* World = UEditorLevelLibrary::GetGameWorld();
+
+  FIntVector NumTilesInXY  = LargeMapManager->GetNumTilesInXY();
+
+  for(int x = 0; x < NumTilesInXY.X; ++x)
+  {
+    for(int y = 0; y < NumTilesInXY.Y; ++y)
+    {
+      FIntVector CurrentTileVector(x, y, 0);
+      FCarlaMapTile CarlaTile = LargeMapManager->GetCarlaMapTile(CurrentTileVector);
+      ULevelStreamingDynamic* StreamingLevel = CarlaTile.StreamingLevel;
+      ULevelStreaming* Level =
+        UEditorLevelUtils::AddLevelToWorld(
+        World, *CarlaTile.Name, ULevelStreamingDynamic::StaticClass(), FTransform());
+      FEditorFileUtils::SaveDirtyPackages(false, true, true, false, false, false, nullptr);
+      UEditorLevelUtils::RemoveLevelFromWorld(Level->GetLoadedLevel());
+    }
+  }
+
 }
 
 void UHoudiniImporterWidget::MoveActorsToSubLevel(TArray<AActor*> Actors, ULevelStreaming* Level)
 {
   int MovedActors = UEditorLevelUtils::MoveActorsToLevel(Actors, 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());
+  FText TransResetText(FText::FromString("Clean up after Move actors to sublevels"));
+  if ( GEditor->Trans )
+  {
+    GEditor->Trans->Reset(TransResetText);
+  }
 }
 
 void UHoudiniImporterWidget::UpdateGenericActorCoordinates(
@@ -102,8 +138,8 @@ void UHoudiniImporterWidget::UpdateGenericActorCoordinates(
 {
   FVector LocalLocation = Actor->GetActorLocation() - TileOrigin;
   Actor->SetActorLocation(LocalLocation);
-  UE_LOG(LogCarlaTools, Log, TEXT("New location %s"),
-    *LocalLocation.ToString());
+  UE_LOG(LogCarlaTools, Log, TEXT("%s New location %s"),
+    *Actor->GetName(), *LocalLocation.ToString());
 }
 
 void UHoudiniImporterWidget::UpdateInstancedMeshCoordinates(
@@ -133,13 +169,6 @@ void UHoudiniImporterWidget::UseCOMasActorLocation(TArray<AActor*> Actors)
       FBodyInstance* BodyInstance = Primitive->GetBodyInstance();
       FVector CenterOfMass = BodyInstance->COMNudge;
       Actor->SetActorLocation(CenterOfMass);
-      UE_LOG(LogCarlaTools, Log, TEXT("Updating actor %s to %s"),
-        *Actor->GetName(), *CenterOfMass.ToString());
-    }
-    else
-    {
-      UE_LOG(LogCarlaTools, Log, TEXT("Not updating actor %s"),
-        *Actor->GetName());
     }
   }
 }
@@ -147,7 +176,7 @@ void UHoudiniImporterWidget::UseCOMasActorLocation(TArray<AActor*> Actors)
 bool UHoudiniImporterWidget::GetNumberOfClusters(
     TArray<AActor*> ActorList, int& OutNumClusters)
 {
-  
+
   for (AActor* Actor : ActorList)
   {
     FString ObjectName = UKismetSystemLibrary::GetObjectName(Actor);

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

@@ -61,24 +61,29 @@ void UMapPreviewUserWidget::ConnectToSocket(FString DatabasePath, FString Styles
 
   // Send a message
   FString Message = "-C " + DatabasePath + " " + StylesheetPath + " " + FString::FromInt(Size);
-  SendStr(Message);
+  if( !SendStr(Message) ){
+    return;
+  }
   UE_LOG(LogTemp, Log, TEXT("Configuration Completed"));
 }
 
 void UMapPreviewUserWidget::RenderMap(FString Latitude, FString Longitude, FString Zoom)
 {
   FString Message = "-R " + Latitude + " " + Longitude + " " + Zoom;
-  SendStr(Message);
+  if( !SendStr(Message) ){
+    UE_LOG(LogTemp, Log, TEXT("Send Str failed"));
+    return;
+  }
 
   TArray<uint8_t> ReceivedData;
   uint32 ReceivedDataSize = 0;
-  
+
   {
     SocketPtr->wait(boost::asio::ip::tcp::socket::wait_read);
     while (SocketPtr->available())
     {
       AsioStreamBuf Buffer;
-      std::size_t BytesReceived = 
+      std::size_t BytesReceived =
         Asio::read(*SocketPtr, Buffer, Asio::transfer_at_least(2));
       TArray<uint8_t> ThisReceivedData;
       const char* DataPtr = Asio::buffer_cast<const char*>(Buffer.data());
@@ -105,7 +110,7 @@ void UMapPreviewUserWidget::RenderMap(FString Latitude, FString Longitude, FStri
           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]);
         }
@@ -116,13 +121,16 @@ void UMapPreviewUserWidget::RenderMap(FString Latitude, FString Longitude, FStri
 
 FString UMapPreviewUserWidget::RecvCornersLatLonCoords()
 {
-  SendStr("-L");
+  if( !SendStr("-L") ){
+    UE_LOG(LogTemp, Error, TEXT("Error sending message: num bytes mismatch"));
+    return FString();
+  }
 
   AsioStreamBuf Buffer;
-  std::size_t BytesReceived = 
+  std::size_t BytesReceived =
       Asio::read(*SocketPtr, Buffer, Asio::transfer_at_least(2));
   std::string BytesStr = Asio::buffer_cast<const char*>(Buffer.data());
-  
+
   FString CoordStr = FString(BytesStr.size(), UTF8_TO_TCHAR(BytesStr.c_str()));
   UE_LOG(LogTemp, Log, TEXT("Received Coords %s"), *CoordStr);
   return CoordStr;
@@ -141,7 +149,10 @@ void UMapPreviewUserWidget::OpenServer()
 
 void UMapPreviewUserWidget::CloseServer()
 {
-  SendStr("-X");
+  if( !SendStr("-X") ){
+    UE_LOG(LogTemp, Error, TEXT("Error sending message"));
+    return;
+  }
 }
 
 bool UMapPreviewUserWidget::SendStr(FString Msg)
@@ -166,24 +177,29 @@ bool UMapPreviewUserWidget::SendStr(FString Msg)
   if (BytesSent != MessageStr.size())
   {
     UE_LOG(LogTemp, Error, TEXT("Error sending message: num bytes mismatch"));
-    return true;
+    return false;
   }
   else
   {
     UE_LOG(LogTemp, Log, TEXT("Sent %d bytes"), BytesSent);
-    return false;
+    return true;
   }
 }
 
 void UMapPreviewUserWidget::UpdateLatLonCoordProperties()
 {
   FString CoordStr = RecvCornersLatLonCoords();
+  if(CoordStr.Len() == 0)
+  {
+    UE_LOG(LogTemp, Error, TEXT("Error during update of lat lon coord properties. Check osm server connection or use OSMURL to generate map") );
+    return;
+  }
   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);
+  ensure(CoordsArray.Num() == 4);
 
   TopRightLat = FCString::Atof(*CoordsArray[0]);
   TopRightLon = FCString::Atof(*CoordsArray[1]);

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Private/Online/CustomFileDownloader.cpp

@@ -3,6 +3,7 @@
 #undef CreateDirectory
 
 #include "Online/CustomFileDownloader.h"
+#include "OpenDriveToMap.h"
 #include "HttpModule.h"
 #include "Http.h"
 #include "Misc/FileHelper.h"
@@ -20,16 +21,16 @@ void UCustomFileDownloader::ConvertOSMInOpenDrive(FString FilePath, float Lat_0,
     // We use the LoadFileToString to load the file into
     if (FFileHelper::LoadFileToString(FileContent, *FilePath, FFileHelper::EHashOptions::None))
     {
-      UE_LOG(LogCarla, Warning, TEXT("FileManipulation: Text From File: %s"), *FilePath);
+      UE_LOG(LogCarlaToolsMapGenerator, Warning, TEXT("FileManipulation: Text From File: %s"), *FilePath);
     }
     else
     {
-      UE_LOG(LogCarla, Warning, TEXT("FileManipulation: Did not load text from file"));
+      UE_LOG(LogCarlaToolsMapGenerator, Warning, TEXT("FileManipulation: Did not load text from file"));
     }
   }
   else
   {
-    UE_LOG(LogCarla, Warning, TEXT("File: %s does not exist"), *FilePath);
+    UE_LOG(LogCarlaToolsMapGenerator, Warning, TEXT("File: %s does not exist"), *FilePath);
     return;
   }
   std::string OsmFile = std::string(TCHAR_TO_UTF8(*FileContent));
@@ -45,17 +46,18 @@ void UCustomFileDownloader::ConvertOSMInOpenDrive(FString FilePath, float Lat_0,
   // We use the LoadFileToString to load the file into
   if (FFileHelper::SaveStringToFile(FString(OpenDriveFile.c_str()), *FilePath))
   {
-    UE_LOG(LogCarla, Warning, TEXT("FileManipulation: Sucsesfuly Written: \"%s\" to the text file"), *FilePath);
+    UE_LOG(LogCarlaToolsMapGenerator, Warning, TEXT("FileManipulation: Sucsesfuly Written: \"%s\" to the text file"), *FilePath);
   }
   else
   {
-    UE_LOG(LogCarla, Warning, TEXT("FileManipulation: Failed to write FString to file."));
+    UE_LOG(LogCarlaToolsMapGenerator, Warning, TEXT("FileManipulation: Failed to write FString to file."));
   }
 }
 
 void UCustomFileDownloader::StartDownload()
 {
-  UE_LOG(LogCarla, Log, TEXT("FHttpDownloader CREATED"));
+  UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT("FHttpDownloader CREATED"));
+  UE_LOG(LogCarlaToolsMapGenerator, Warning, TEXT("Map Name Is %s"), *ResultFileName );
   FHttpDownloader *Download = new FHttpDownloader("GET", Url, ResultFileName, DownloadDelegate);
   Download->Run();
 }
@@ -65,10 +67,16 @@ FHttpDownloader::FHttpDownloader(const FString &InVerb, const FString &InUrl, co
 {
 }
 
+FHttpDownloader::FHttpDownloader()
+{
+
+}
+
 void FHttpDownloader::Run(void)
 {
-  UE_LOG(LogCarla, Log, TEXT("Starting download [%s] Url=[%s]"), *Verb, *Url);
+  UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT("Starting download [%s] Url=[%s]"), *Verb, *Url);
   TSharedPtr<IHttpRequest, ESPMode::ThreadSafe> Request = FHttpModule::Get().CreateRequest();
+  UE_LOG(LogCarlaToolsMapGenerator, Warning, TEXT("Map Name Is %s"), *Filename );
   Request->OnProcessRequestComplete().BindRaw(this, &FHttpDownloader::RequestComplete);
   Request->SetURL(Url);
   Request->SetVerb(Verb);
@@ -77,31 +85,29 @@ void FHttpDownloader::Run(void)
 
 void FHttpDownloader::RequestComplete(FHttpRequestPtr HttpRequest, FHttpResponsePtr HttpResponse, bool bSucceeded)
 {
-  if (!HttpResponse.IsValid())
+  if (!HttpResponse.IsValid() )
   {
-    UE_LOG(LogCarla, Log, TEXT("Download failed. NULL response"));
+    UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT("Download failed. NULL response"));
   }
   else
   {
     // If we do not get success responses codes we do not do anything
     if (HttpResponse->GetResponseCode() < 200 || 300 <= HttpResponse->GetResponseCode())
     {
-      UE_LOG(LogCarla, Error, TEXT("Error during download [%s] Url=[%s] Response=[%d]"),
+      UE_LOG(LogCarlaToolsMapGenerator, Error, TEXT("Error during download [%s] Url=[%s] Response=[%d]"),
              *HttpRequest->GetVerb(),
              *HttpRequest->GetURL(),
              HttpResponse->GetResponseCode());
-      delete this;
       return;
     }
 
-    UE_LOG(LogCarla, Log, TEXT("Completed download [%s] Url=[%s] Response=[%d]"),
+    UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT("Completed download [%s] Url=[%s] Response=[%d]"),
            *HttpRequest->GetVerb(),
            *HttpRequest->GetURL(),
            HttpResponse->GetResponseCode());
 
-    HttpRequest->OnProcessRequestComplete().Unbind();
-
-    FString CurrentFile = FPaths::ProjectContentDir() + "CustomMaps/" + Filename + "/OpenDrive/";
+    FString CurrentFile = FPaths::ProjectContentDir() + "CustomMaps/" + (Filename) + "/OpenDrive/";
+    UE_LOG(LogCarlaToolsMapGenerator, Warning, TEXT("FHttpDownloader::RequestComplete CurrentFile %s."), *CurrentFile);
 
     // We will use this FileManager to deal with the file.
     IPlatformFile &FileManager = FPlatformFileManager::Get().GetPlatformFile();
@@ -116,14 +122,14 @@ void FHttpDownloader::RequestComplete(FHttpRequestPtr HttpRequest, FHttpResponse
     // We use the LoadFileToString to load the file into
     if (FFileHelper::SaveStringToFile(StringToWrite, *CurrentFile, FFileHelper::EEncodingOptions::ForceUTF8WithoutBOM))
     {
-      UE_LOG(LogCarla, Warning, TEXT("FileManipulation: Sucsesfuly Written "));
+      UE_LOG(LogCarlaToolsMapGenerator, Warning, TEXT("FileManipulation: Sucsesfuly Written "));
+      DelegateToCall.ExecuteIfBound();
     }
     else
     {
-      UE_LOG(LogCarla, Warning, TEXT("FileManipulation: Failed to write FString to file."));
+      UE_LOG(LogCarlaToolsMapGenerator, Warning, TEXT("FileManipulation: Failed to write FString to file."));
+      UE_LOG(LogCarlaToolsMapGenerator, Warning, TEXT("FileManipulation: CurrentFile %s."), *CurrentFile);
     }
   }
-  DelegateToCall.ExecuteIfBound();
-
   delete this;
 }

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

@@ -64,10 +64,10 @@ void UUSDImporterWidget::ImportUSDVehicle(
   }
   // Import Wheel and suspension data
   TArray<FUSDCARLAWheelData> WheelsData = UUSDCARLAInterface::GetUSDWheelData(USDPath);
-  auto CreateVehicleWheel = 
-      [&](const FUSDCARLAWheelData& WheelData, 
+  auto CreateVehicleWheel =
+      [&](const FUSDCARLAWheelData& WheelData,
          TSubclassOf<UVehicleWheel> TemplateClass,
-         const FString &PackagePathName) 
+         const FString &PackagePathName)
       -> TSubclassOf<UVehicleWheel>
   {
     // Get a reference to the editor subsystem
@@ -161,7 +161,7 @@ bool UUSDImporterWidget::MergeStaticMeshComponents(
 }
 
 TArray<UObject*> UUSDImporterWidget::MergeMeshComponents(
-    TArray<UPrimitiveComponent*> ComponentsToMerge, 
+    TArray<UPrimitiveComponent*> ComponentsToMerge,
     const FString& DestMesh)
 {
   if(!ComponentsToMerge.Num())
@@ -275,7 +275,7 @@ FVehicleMeshParts UUSDImporterWidget::SplitVehicleParts(
     }
     else if (ComponentName.Contains("Collision"))
     {
-      
+
     }
     else
     {
@@ -286,7 +286,7 @@ FVehicleMeshParts UUSDImporterWidget::SplitVehicleParts(
       }
     }
 
-    if(ComponentName.Contains("glass") || 
+    if(ComponentName.Contains("glass") ||
        IsChildrenOf(Component, "glass"))
     {
       GlassComponents.Add(Component);
@@ -330,7 +330,7 @@ FMergedVehicleMeshParts UUSDImporterWidget::GenerateVehicleMeshes(
     const FVehicleMeshParts& VehicleMeshParts, const FString& DestPath)
 {
   FMergedVehicleMeshParts Result;
-  auto MergePart = 
+  auto MergePart =
       [](TArray<UPrimitiveComponent*> Components, const FString& DestMeshPath)
       -> UStaticMesh*
       {
@@ -430,7 +430,7 @@ AActor* UUSDImporterWidget::GenerateNewVehicleBlueprint(
     UWorld* World,
     UClass* BaseClass,
     USkeletalMesh* NewSkeletalMesh,
-    const FString &DestPath, 
+    const FString &DestPath,
     const FMergedVehicleMeshParts& VehicleMeshes,
     const FWheelTemplates& WheelTemplates)
 {
@@ -468,11 +468,11 @@ AActor* UUSDImporterWidget::GenerateNewVehicleBlueprint(
   }
 
   // Get the skeletal mesh and modify it to match the vehicle parameters
-  USkeletalMeshComponent* SkeletalMeshComponent = Cast<USkeletalMeshComponent>( 
+  USkeletalMeshComponent* SkeletalMeshComponent = Cast<USkeletalMeshComponent>(
       TemplateActor->GetComponentByClass(USkeletalMeshComponent::StaticClass()));
   if(!SkeletalMeshComponent)
   {
-    UE_LOG(LogCarlaTools, Log, TEXT("Skeletal mesh component not found")); 
+    UE_LOG(LogCarlaTools, Log, TEXT("Skeletal mesh component not found"));
     return nullptr;
   }
   USkeletalMesh* SkeletalMesh = SkeletalMeshComponent->SkeletalMesh;
@@ -506,7 +506,7 @@ AActor* UUSDImporterWidget::GenerateNewVehicleBlueprint(
     ULocalLightComponent * LightComponent = NewObject<ULocalLightComponent>(TemplateActor, LightClass, FName(*FixedLightName));
     LightComponent->RegisterComponent();
     LightComponent->AttachToComponent(
-        TemplateActor->GetRootComponent(), 
+        TemplateActor->GetRootComponent(),
         FAttachmentTransformRules::KeepRelativeTransform);
     LightComponent->SetRelativeLocation(Light.Location); // Set the position of the light relative to the actor
     LightComponent->SetIntensityUnits(ELightUnits::Lumens);
@@ -514,7 +514,7 @@ AActor* UUSDImporterWidget::GenerateNewVehicleBlueprint(
     LightComponent->SetVolumetricScatteringIntensity(0.f);
     if (FixedLightName.Contains("high_beam"))
     {
-      USpotLightComponent* SpotLight = 
+      USpotLightComponent* SpotLight =
           Cast<USpotLightComponent>(LightComponent);
       SpotLight->SetRelativeRotation(FRotator(-1.5f, 0, 0));
       SpotLight->SetAttenuationRadius(5000.f);
@@ -525,7 +525,7 @@ AActor* UUSDImporterWidget::GenerateNewVehicleBlueprint(
     }
     else if (FixedLightName.Contains("low_beam"))
     {
-      USpotLightComponent* SpotLight = 
+      USpotLightComponent* SpotLight =
           Cast<USpotLightComponent>(LightComponent);
       LightComponent->SetRelativeRotation(FRotator(-3.f, 0, 0));
       LightComponent->SetAttenuationRadius(3000.f);
@@ -553,11 +553,11 @@ AActor* UUSDImporterWidget::GenerateNewVehicleBlueprint(
   Setup.WheelClass = WheelTemplates.WheelRR;
   Setup.BoneName = "Wheel_Rear_Right";
   WheelSetups.Add(Setup);
-  ACarlaWheeledVehicle* CarlaVehicle = 
+  ACarlaWheeledVehicle* CarlaVehicle =
       Cast<ACarlaWheeledVehicle>(TemplateActor);
   if(CarlaVehicle)
   {
-    UWheeledVehicleMovementComponent4W* MovementComponent = 
+    UWheeledVehicleMovementComponent4W* MovementComponent =
         Cast<UWheeledVehicleMovementComponent4W>(
             CarlaVehicle->GetVehicleMovementComponent());
     MovementComponent->WheelSetups = WheelSetups;
@@ -582,12 +582,12 @@ AActor* UUSDImporterWidget::GenerateNewVehicleBlueprint(
 }
 
 bool UUSDImporterWidget::EditSkeletalMeshBones(
-    USkeletalMesh* NewSkeletalMesh, 
+    USkeletalMesh* NewSkeletalMesh,
     const TMap<FString, FTransform> &NewBoneTransforms)
 {
   if(!NewSkeletalMesh)
   {
-    UE_LOG(LogCarlaTools, Log, TEXT("Skeletal mesh invalid"));  
+    UE_LOG(LogCarlaTools, Log, TEXT("Skeletal mesh invalid"));
     return false;
   }
   FReferenceSkeleton& ReferenceSkeleton = NewSkeletalMesh->RefSkeleton;
@@ -599,7 +599,7 @@ bool UUSDImporterWidget::EditSkeletalMeshBones(
     int32 BoneIdx = SkeletonModifier.FindBoneIndex(FName(*BoneName));
     if (BoneIdx == INDEX_NONE)
     {
-      UE_LOG(LogCarlaTools, Log, TEXT("Bone %s not found"), *BoneName);  
+      UE_LOG(LogCarlaTools, Log, TEXT("Bone %s not found"), *BoneName);
     }
     UE_LOG(LogCarlaTools, Log, TEXT("Bone %s corresponds to index %d"), *BoneName, BoneIdx);
     SkeletonModifier.UpdateRefPoseTransform(BoneIdx, BoneTransform);
@@ -608,7 +608,7 @@ bool UUSDImporterWidget::EditSkeletalMeshBones(
   NewSkeletalMesh->MarkPackageDirty();
   UPackage* Package = NewSkeletalMesh->GetOutermost();
   return UPackage::SavePackage(
-      Package, NewSkeletalMesh, 
-      EObjectFlags::RF_Public | EObjectFlags::RF_Standalone, 
+      Package, NewSkeletalMesh,
+      EObjectFlags::RF_Public | EObjectFlags::RF_Standalone,
       *(Package->GetName()), GError, nullptr, true, true, SAVE_NoError);
 }

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/Commandlet/GenerateTileCommandlet.h

@@ -0,0 +1,46 @@
+// Copyright (c) 2019 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 "Runtime/Engine/Classes/Engine/ObjectLibrary.h"
+#include "Commandlets/Commandlet.h"
+
+#include <compiler/disable-ue4-macros.h>
+
+#include <compiler/enable-ue4-macros.h>
+
+#include "OpenDriveToMap.h"
+
+#include "GenerateTileCommandlet.generated.h"
+
+// Each commandlet should generate only 1 Tile
+
+DECLARE_LOG_CATEGORY_EXTERN(LogCarlaToolsMapGenerateTileCommandlet, Log, All);
+
+
+UCLASS()
+class CARLATOOLS_API UGenerateTileCommandlet
+  : public UCommandlet
+{
+  GENERATED_BODY()
+
+public:
+
+  /// Default constructor.
+  UGenerateTileCommandlet();
+  UGenerateTileCommandlet(const FObjectInitializer &);
+
+#if WITH_EDITORONLY_DATA
+
+  virtual int32 Main(const FString &Params) override;
+
+#endif // WITH_EDITORONLY_DATA
+  UPROPERTY()
+  UOpenDriveToMap* OpenDriveMap;
+  UPROPERTY()
+  UClass* OpenDriveClass;
+};

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

@@ -0,0 +1,34 @@
+// 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 "CarlaTools.h"
+
+#include "DigitalTwinsBaseWidget.generated.h"
+
+class UOpenDriveToMap;
+
+UCLASS(BlueprintType)
+class CARLATOOLS_API UDigitalTwinsBaseWidget : public UEditorUtilityWidget
+{
+  GENERATED_BODY()
+public:
+
+  UFUNCTION(BlueprintCallable)
+  UOpenDriveToMap* InitializeOpenDriveToMap(TSubclassOf<UOpenDriveToMap> BaseClass);
+
+  UFUNCTION(BlueprintPure)
+  UOpenDriveToMap* GetOpenDriveToMap();
+
+  UFUNCTION(BlueprintCallable)
+  void SetOpenDriveToMap(UOpenDriveToMap* ToSet);
+
+  UFUNCTION(BlueprintCallable)
+  void DestroyOpenDriveToMap();
+};

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

@@ -18,13 +18,16 @@ UCLASS(BlueprintType)
 class CARLATOOLS_API UHoudiniImporterWidget : public UEditorUtilityWidget
 {
   GENERATED_BODY()
-
+public:
   UFUNCTION(BlueprintCallable, Category="HoudiniImporterWidget")
   static void CreateSubLevels(ALargeMapManager* LargeMapManager);
 
   UFUNCTION(BlueprintCallable, Category="HoudiniImporterWidget")
   static void MoveActorsToSubLevelWithLargeMap(TArray<AActor*> Actors, ALargeMapManager* LargeMapManager);
 
+  UFUNCTION(BlueprintCallable, Category="HoudiniImporterWidget")
+  static void ForceStreamingLevelsToUnload( ALargeMapManager* LargeMapManager );
+
   UFUNCTION(BlueprintCallable, Category="HoudiniImporterWidget")
   static void MoveActorsToSubLevel(TArray<AActor*> Actors, ULevelStreaming* Level);
 

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/Online/CustomFileDownloader.h

@@ -6,45 +6,26 @@
 #include "Interfaces/IHttpRequest.h"
 #include "CustomFileDownloader.generated.h"
 /**
- * 
+ *
  */
 
 DECLARE_DELEGATE(FDownloadComplete)
 
-UCLASS(Blueprintable)
-class CARLA_API UCustomFileDownloader : public UObject
-{
-  GENERATED_BODY()
-public:	
-  UFUNCTION(BlueprintCallable)
-  void StartDownload();
-  UFUNCTION(BlueprintCallable)
-  void ConvertOSMInOpenDrive(FString FilePath, float Lat_0 = 0, float Lon_0 = 0);
 
-  FString ResultFileName;
-
-  FString Url;
-
-  FDownloadComplete DownloadDelegate;
-
-private:
-  void RequestComplete(FHttpRequestPtr HttpRequest, FHttpResponsePtr HttpResponse, bool bSucceeded);
-
-  FString Payload;
-};
-
-class FHttpDownloader
+struct FHttpDownloader
 {
 public:
+  FHttpDownloader();
+
   /**
    *
    * @param Verb - verb to use for request (GET,POST,DELETE,etc)
    * @param Url - url address to connect to
    */
-  FHttpDownloader( const FString& InVerb, const FString& InUrl, const FString& InFilename, FDownloadComplete& Delegate );  
+  FHttpDownloader( const FString& InVerb, const FString& InUrl, const FString& InFilename, FDownloadComplete& Delegate  );
 
   // Kick off the Http request  and wait for delegate to be called
-  void Run(void);  
+  void Run(void);
 
   /**
    * Delegate called when the request completes
@@ -61,3 +42,26 @@ private:
   FString Filename;
   FDownloadComplete DelegateToCall;
 };
+
+UCLASS(Blueprintable)
+class CARLATOOLS_API UCustomFileDownloader : public UObject
+{
+  GENERATED_BODY()
+public:
+  UFUNCTION(BlueprintCallable)
+  void StartDownload();
+  UFUNCTION(BlueprintCallable)
+  void ConvertOSMInOpenDrive(FString FilePath, float Lat_0 = 0, float Lon_0 = 0);
+
+  FString ResultFileName;
+
+  FString Url;
+
+  FDownloadComplete DownloadDelegate;
+private:
+  void RequestComplete(FHttpRequestPtr HttpRequest, FHttpResponsePtr HttpResponse, bool bSucceeded);
+
+  FString Payload;
+};
+
+

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

@@ -6,6 +6,8 @@
 #include "Blueprint/UserWidget.h"
 #include "ProceduralMeshComponent.h"
 #include "Math/Vector2D.h"
+#include "EditorUtilityActor.h"
+#include "EditorUtilityObject.h"
 
 #include <compiler/disable-ue4-macros.h>
 #include <boost/optional.hpp>
@@ -23,11 +25,13 @@ class UMaterialInstance;
  *
  */
 UCLASS(Blueprintable, BlueprintType)
-class CARLATOOLS_API UOpenDriveToMap : public UObject
+class CARLATOOLS_API UOpenDriveToMap : public UEditorUtilityObject
 {
   GENERATED_BODY()
-
+#if WITH_EDITOR
 public:
+  UOpenDriveToMap();
+  ~UOpenDriveToMap();
 
   UFUNCTION()
   void ConvertOSMInOpenDrive();
@@ -36,12 +40,47 @@ public:
   void CreateMap();
 
   UFUNCTION(BlueprintCallable)
-  void CreateTerrain(const int MeshGridSize, const float MeshGridSectionSize,
-     const class UTexture2D* HeightmapTexture);
+  void CreateTerrain(const int MeshGridSize, const float MeshGridSectionSize);
 
   UFUNCTION(BlueprintCallable)
-  void CreateTerrainMesh(const int MeshIndex, const FVector2D Offset, const int GridSize, const float GridSectionSize,
-     const class UTexture2D* HeightmapTexture, class UTextureRenderTarget2D* RoadMask);
+  void CreateTerrainMesh(const int MeshIndex, const FVector2D Offset, const int GridSize, const float GridSectionSize);
+
+  UFUNCTION(BlueprintCallable)
+  float GetHeight(float PosX, float PosY,bool bDrivingLane = false);
+
+  UFUNCTION(BlueprintCallable)
+  static AActor* SpawnActorWithCheckNoCollisions(UClass* ActorClassToSpawn, FTransform Transform);
+
+  UFUNCTION(BlueprintCallable)
+  float GetDistanceToDrivingLaneBorder(FVector Location) const{
+    return DistanceToLaneBorder(CarlaMap, Location);
+  }
+
+  UFUNCTION(BlueprintCallable)
+  bool GetIsInRoad(FVector Location) const {
+    return IsInRoad(CarlaMap, Location);
+  }
+
+  UFUNCTION(BlueprintCallable)
+  void GenerateTileStandalone();
+
+  UFUNCTION(BlueprintCallable)
+  void GenerateTile();
+
+  UFUNCTION(BlueprintCallable)
+  bool GoNextTile();
+
+  UFUNCTION(BlueprintCallable)
+  void ReturnToMainLevel();
+
+  UFUNCTION(BlueprintCallable)
+  void CorrectPositionForAllActorsInCurrentTile();
+
+  UFUNCTION(BlueprintCallable)
+  FString GetStringForCurrentTile();
+
+  UFUNCTION(BlueprintCallable)
+  AActor* SpawnActorInEditorWorld(UClass* Class, FVector Location, FRotator Rotation);
 
   UPROPERTY(EditAnywhere, BlueprintReadWrite, Category="File")
   FString FilePath;
@@ -70,45 +109,97 @@ public:
   UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Defaults")
   UMaterialInstance* DefaultLandscapeMaterial;
 
-  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Defaults")
-  UTexture2D* DefaultHeightmap;
+
 
   UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="Settings" )
   float DistanceBetweenTrees = 50.0f;
   UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="Settings" )
   float DistanceFromRoadEdge = 3.0f;
 
+  UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="Stage" )
+  bool bHasStarted = false;
+
+  UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="Stage" )
+  bool bRoadsFinished = false;
+
+  UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="Stage" )
+  bool bMapLoaded = false;
+
+  UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="TileGeneration" )
+  FVector MinPosition;
+
+  UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="TileGeneration" )
+  FVector MaxPosition;
+
+  UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="TileGeneration" )
+  float TileSize;
+
+  UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="TileGeneration" )
+  FVector Tile0Offset;
+
+  UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="TileGeneration" )
+  bool bTileFinished;
+
+  UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="TileGeneration" )
+  FIntVector NumTilesInXY;
+
+  UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="TileGeneration" )
+  FIntVector CurrentTilesInXY;
+
+  UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="TileGeneration" )
+  FString BaseLevelName;
+
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Heightmap")
+  UTexture2D* DefaultHeightmap;
+
+  UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="Heightmap" )
+  FVector WorldEndPosition;
+
+  UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="Heightmap" )
+  FVector WorldOriginPosition;
+
+  UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="Heightmap" )
+  float MinHeight;
+
+  UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="Heightmap" )
+  float MaxHeight;
+
+
 protected:
 
-  UFUNCTION( BlueprintCallable )
-  void SaveMap();
-
   UFUNCTION(BlueprintCallable)
-  TArray<AActor*> GenerateMiscActors(float Offset);
+  TArray<AActor*> GenerateMiscActors(float Offset, FVector MinLocation, FVector MaxLocation );
 
   UFUNCTION( BlueprintImplementableEvent )
-  void GenerationFinished();
+  void GenerationFinished(FVector MinLocation, FVector MaxLocation);
+
+  UFUNCTION( BlueprintImplementableEvent )
+  void DownloadFinished();
+
+
+  UFUNCTION( BlueprintImplementableEvent )
+  void ExecuteTileCommandlet();
+
+  UFUNCTION( BlueprintCallable )
+  void MoveActorsToSubLevels(TArray<AActor*> ActorsToMove);
+
 private:
 
   UFUNCTION()
   void OpenFileDialog();
 
-  UFUNCTION()
+  UFUNCTION(BlueprintCallable)
   void LoadMap();
 
-  void GenerateAll(const boost::optional<carla::road::Map>& CarlaMap);
-  void GenerateRoadMesh(const boost::optional<carla::road::Map>& CarlaMap);
-  void GenerateSpawnPoints(const boost::optional<carla::road::Map>& CarlaMap);
-  void GenerateTreePositions(const boost::optional<carla::road::Map>& CarlaMap);
-  void GenerateLaneMarks(const boost::optional<carla::road::Map>& CarlaMap);
+  void GenerateAll(const boost::optional<carla::road::Map>& ParamCarlaMap, FVector MinLocation, FVector MaxLocation);
+  void GenerateRoadMesh(const boost::optional<carla::road::Map>& ParamCarlaMap, FVector MinLocation, FVector MaxLocation);
+  void GenerateSpawnPoints(const boost::optional<carla::road::Map>& ParamCarlaMap, FVector MinLocation, FVector MaxLocation);
+  void GenerateTreePositions(const boost::optional<carla::road::Map>& ParamCarlaMap, FVector MinLocation, FVector MaxLocation);
+  void GenerateLaneMarks(const boost::optional<carla::road::Map>& ParamCarlaMap, FVector MinLocation, FVector MaxLocation);
 
-  float GetHeight(float PosX, float PosY,bool bDrivingLane = false);
   carla::rpc::OpendriveGenerationParameters opg_parameters;
   boost::optional<carla::road::Map> CarlaMap;
 
-  UStaticMesh* CreateStaticMeshAsset(UProceduralMeshComponent* ProcMeshComp, int32 MeshIndex, FString FolderName);
-  TArray<UStaticMesh*> CreateStaticMeshAssets();
-
   FTransform GetSnappedPosition(FTransform Origin);
 
   float GetHeightForLandscape(FVector Origin);
@@ -117,20 +208,16 @@ private:
       FVector &location,
       int32_t lane_type = static_cast<int32_t>(carla::road::Lane::LaneType::Driving)) const;
 
+  bool IsInRoad(const boost::optional<carla::road::Map>& ParamCarlaMap,
+        FVector &location) const;
+
+  void InitTextureData();
+
   UPROPERTY()
   UCustomFileDownloader* FileDownloader;
   UPROPERTY()
-  TArray<AActor*> ActorMeshList;
-  UPROPERTY()
-  TArray<AActor*> LaneMarkerActorList;
-  UPROPERTY()
-  TArray<UStaticMesh*> MeshesToSpawn;
-  UPROPERTY()
-  TArray<FString> RoadType;
-  UPROPERTY()
-  TArray<UProceduralMeshComponent*> RoadMesh;
-  UPROPERTY()
   TArray<AActor*> Landscapes;
   UPROPERTY()
   UTexture2D* Heightmap;
+#endif
 };

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

@@ -20,8 +20,8 @@ UENUM(BlueprintType)
 enum ERegionOfInterestType
 {
   NONE_REGION,
-  TERRAIN_REGION,      
-  WATERBODIES_REGION,  // Not Supported yet 
+  TERRAIN_REGION,
+  WATERBODIES_REGION,  // Not Supported yet
   VEGETATION_REGION,
   MISC_SPREADED_ACTORS_REGION,
   MISC_SPECIFIC_LOCATION_ACTORS_REGION,
@@ -47,7 +47,7 @@ struct CARLATOOLS_API FRoiTile
   int Y;
 
 public:
-  FRoiTile() : X(-1), Y(-1) 
+  FRoiTile() : X(-1), Y(-1)
   {};
 
   FRoiTile(int X, int Y)
@@ -108,7 +108,7 @@ FORCEINLINE uint32 GetTypeHash(const FRoiTile& Thing)
 }
 
 /**
- * 
+ *
  */
 USTRUCT(BlueprintType)
 struct CARLATOOLS_API FCarlaRegionOfInterest
@@ -141,8 +141,8 @@ struct CARLATOOLS_API FCarlaRegionOfInterest
   template <typename R>
   static FORCEINLINE bool IsTileInRegionsSet(FRoiTile RoiTile, TMap<FRoiTile, R> RoisMap)
   {
-    static_assert(TIsDerivedFrom<R, FCarlaRegionOfInterest>::IsDerived, 
-        "ROIs Map Value type is not an URegionOfInterest derived type.");   
+    static_assert(TIsDerivedFrom<R, FCarlaRegionOfInterest>::IsDerived,
+        "ROIs Map Value type is not an URegionOfInterest derived type.");
     return RoisMap.Contains(RoiTile);
   }
 
@@ -154,7 +154,7 @@ struct CARLATOOLS_API FCarlaRegionOfInterest
     {
       return false;
     }
-    
+
     // Checking if the two regions have the same tiles.
     TMap<FRoiTile, int> TileCount;
     for(FRoiTile Tile : Other.TilesList)
@@ -191,7 +191,7 @@ struct CARLATOOLS_API FVegetationROI : public FCarlaRegionOfInterest
 
   UPROPERTY(BlueprintReadWrite)
   TArray<UProceduralFoliageSpawner*> FoliageSpawners;
-  
+
   FVegetationROI() : FCarlaRegionOfInterest()
   {
     this->FoliageSpawners.Empty();
@@ -230,12 +230,12 @@ struct CARLATOOLS_API FTerrainROI : public FCarlaRegionOfInterest
   UPROPERTY(BlueprintReadWrite)
   UTextureRenderTarget2D* RoiHeightmapRenderTarget;
 
-  FTerrainROI() : FCarlaRegionOfInterest(), RoiMaterialInstance()
+  FTerrainROI() : FCarlaRegionOfInterest(), RoiMaterialInstance(), RoiHeightmapRenderTarget()
   {}
 
   /**
  * This function checks if a tile is on the boundary of a region of interest
- * 
+ *
  * @param RoiTile The tile we're checking
  * @param RoisMap The map of RoiTiles to Rois.
  * @param OutUp Is there a tile above this one?
@@ -276,7 +276,7 @@ struct CARLATOOLS_API FMiscSpreadedActorsROI : public FCarlaRegionOfInterest
   {}
 };
 
-/// A struct that is used to store the information of a region of interest that is used to 
+/// 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 FCarlaRegionOfInterest
@@ -295,7 +295,11 @@ struct CARLATOOLS_API FMiscSpecificLocationActorsROI : public FCarlaRegionOfInte
   UPROPERTY(BlueprintReadWrite)
   float MaxRotationRange;
 
-  FMiscSpecificLocationActorsROI() : FCarlaRegionOfInterest(), ActorClass(), ActorLocation(0.0f)
+  FMiscSpecificLocationActorsROI() : FCarlaRegionOfInterest(),
+    ActorClass(),
+    ActorLocation(0.0f),
+    MinRotationRange(0.0f),
+    MaxRotationRange(0.0f)
   {}
 };
 

Util/BuildTools/BuildOSM2ODR.bat

@@ -20,8 +20,8 @@ set USAGE_STRING=Usage: %FILE_N% [-h^|--help] [--rebuild] [--build] [--clean] [-
 set REMOVE_INTERMEDIATE=false
 set BUILD_OSM2ODR=false
 set GIT_PULL=true
-set CURRENT_OSM2ODR_COMMIT=03f2f1de6dcbfde41f2af464829d96b582fc2909
-set OSM2ODR_BRANCH=carla_osm2odr
+set CURRENT_OSM2ODR_COMMIT=1835e1e9538d0778971acc8b19b111834aae7261
+set OSM2ODR_BRANCH=aaron/defaultsidewalkwidth
 set OSM2ODR_REPO=https://github.com/carla-simulator/sumo.git
 
 :arg-parse

Util/BuildTools/BuildOSM2ODR.sh

@@ -14,8 +14,8 @@ END
 REMOVE_INTERMEDIATE=false
 BUILD_OSM2ODR=false
 GIT_PULL=true
-CURRENT_OSM2ODR_COMMIT=03f2f1de6dcbfde41f2af464829d96b582fc2909
-OSM2ODR_BRANCH=carla_osm2odr
+CURRENT_OSM2ODR_COMMIT=1835e1e9538d0778971acc8b19b111834aae7261
+OSM2ODR_BRANCH=aaron/defaultsidewalkwidth
 OSM2ODR_REPO=https://github.com/carla-simulator/sumo.git
 
 OPTS=`getopt -o h --long help,rebuild,build,clean,carsim,no-pull -n 'parse-options' -- "$@"`
@@ -101,7 +101,7 @@ if ${BUILD_OSM2ODR} ; then
       -DPROJ_LIBRARY=${CARLA_BUILD_FOLDER}/proj-install/lib/libproj.a \
       -DXercesC_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-install/include \
       -DXercesC_LIBRARY=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-install/lib/libxerces-c.a
-  
+
   ninja osm2odr
   ninja install
 
@@ -111,7 +111,7 @@ if ${BUILD_OSM2ODR} ; then
   LLVM_BASENAME=llvm-8.0
   LLVM_INCLUDE="$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"
-  
+
   echo $LLVM_INCLUDE
   echo $LLVM_LIBPATH
 

Util/BuildTools/BuildUE4Plugins.bat

@@ -0,0 +1,89 @@
+@REM @echo off
+setlocal enabledelayedexpansion
+
+rem Run it through a cmd with the x64 Visual C++ Toolset enabled.
+
+set LOCAL_PATH=%~dp0
+set FILE_N=-[%~n0]:
+
+rem Print batch params (debug purpose)
+echo %FILE_N% [Batch params]: %*
+
+rem ============================================================================
+rem -- Parse arguments ---------------------------------------------------------
+rem ============================================================================
+
+set DOC_STRING=Build LibCarla.
+set USAGE_STRING=Usage: %FILE_N% [-h^|--help] [--rebuild] [--build] [--clean] [--no-pull]
+
+set BUILD_STREETMAP=false
+set GIT_PULL=true
+set CURRENT_STREETMAP_COMMIT=260273d6b7c3f28988cda31fd33441de7e272958
+set STREETMAP_BRANCH=master
+set STREETMAP_REPO=https://github.com/carla-simulator/StreetMap.git
+
+:arg-parse
+if not "%1"=="" (
+    if "%1"=="--rebuild" (
+        set REMOVE_INTERMEDIATE=true
+        set BUILD_STREETMAP=true
+    )
+    if "%1"=="--build" (
+        set BUILD_STREETMAP=true
+    )
+    if "%1"=="--no-pull" (
+        set GIT_PULL=false
+    )
+    if "%1"=="--clean" (
+        set REMOVE_INTERMEDIATE=true
+    )
+    if "%1"=="-h" (
+        echo %DOC_STRING%
+        echo %USAGE_STRING%
+        GOTO :eof
+    )
+    if "%1"=="--help" (
+        echo %DOC_STRING%
+        echo %USAGE_STRING%
+        GOTO :eof
+    )
+    shift
+    goto :arg-parse
+)
+
+rem ============================================================================
+rem -- Local Variables ---------------------------------------------------------
+rem ============================================================================
+
+rem Set the visual studio solution directory
+rem
+set CARLA_PLUGINS_PATH=%ROOT_PATH:/=\%Unreal\CarlaUE4\Plugins\
+set CARLA_STREETMAP_PLUGINS_PATH=%ROOT_PATH:/=\%Unreal\CarlaUE4\Plugins\StreetMap\
+
+rem Build STREETMAP
+
+if  %GIT_PULL% == true (
+    if not exist "%CARLA_STREETMAP_PLUGINS_PATH%" git clone -b %STREETMAP_BRANCH% %STREETMAP_REPO% %CARLA_STREETMAP_PLUGINS_PATH%
+    cd "%CARLA_STREETMAP_PLUGINS_PATH%"
+    git fetch
+    git checkout %CURRENT_STREETMAP_COMMIT%
+)
+
+
+goto success
+
+rem ============================================================================
+rem -- Messages and Errors -----------------------------------------------------
+rem ============================================================================
+
+:success
+    if %BUILD_STREETMAP% == true echo %FILE_N% STREETMAP has been successfully installed in "%CARLA_PLUGINS_PATH%"!
+    goto good_exit
+
+:good_exit
+    endlocal
+    exit /b 0
+
+:bad_exit
+    endlocal
+    exit /b %errorlevel%

Util/BuildTools/BuildUE4Plugins.sh

@@ -0,0 +1,90 @@
+#! /bin/bash
+DOC_STRING="Download StreetMapUE4 Plugin."
+
+USAGE_STRING=$(cat <<- END
+Usage: $0 [-h|--help]
+
+commands
+
+    [--clean]    Clean intermediate files.
+    [--rebuild]  Clean and rebuild both configurations.
+END
+)
+
+REMOVE_INTERMEDIATE=false
+BUILD_STREETMAP=false
+GIT_PULL=true
+CURRENT_STREETMAP_COMMIT=260273d6b7c3f28988cda31fd33441de7e272958
+STREETMAP_BRANCH=master
+STREETMAP_REPO=https://github.com/carla-simulator/StreetMap.git
+
+OPTS=`getopt -o h --long build,rebuild,clean, -n 'parse-options' -- "$@"`
+
+eval set -- "$OPTS"
+
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --rebuild )
+      REMOVE_INTERMEDIATE=true;
+      BUILD_STREETMAP=true;
+      shift ;;
+    --build )
+      BUILD_STREETMAP=true;
+      shift ;;
+    --no-pull )
+      GIT_PULL=false
+      shift ;;
+    --clean )
+      REMOVE_INTERMEDIATE=true;
+      shift ;;
+    -h | --help )
+      echo "$DOC_STRING"
+      echo "$USAGE_STRING"
+      exit 1
+      ;;
+    * )
+      shift ;;
+  esac
+done
+
+source $(dirname "$0")/Environment.sh
+
+if ! { ${REMOVE_INTERMEDIATE} || ${BUILD_STREETMAP}; }; then
+  fatal_error "Nothing selected to be done."
+fi
+
+# ==============================================================================
+# -- Clean intermediate files --------------------------------------------------
+# ==============================================================================
+
+if ${REMOVE_INTERMEDIATE} ; then
+
+  log "Cleaning intermediate files and folders."
+
+  UE4_INTERMEDIATE_FOLDERS="Binaries Build Intermediate DerivedDataCache"
+
+  pushd "${CARLAUE4_STREETMAP_FOLDER}" >/dev/null
+
+  rm -Rf ${UE4_INTERMEDIATE_FOLDERS}
+
+  popd >/dev/null
+
+fi
+
+# ==============================================================================
+# -- Build library -------------------------------------------------------------
+# ==============================================================================
+
+if ${BUILD_STREETMAP} ; then
+  log "Downloading STREETMAP plugin."
+  if ${GIT_PULL} ; then
+    if [ ! -d ${CARLAUE4_STREETMAP_FOLDER} ] ; then
+      git clone -b ${STREETMAP_BRANCH} ${STREETMAP_REPO} ${CARLAUE4_STREETMAP_FOLDER}
+    fi
+    cd ${CARLAUE4_STREETMAP_FOLDER}
+    git fetch
+    git checkout ${CURRENT_STREETMAP_COMMIT}
+  fi
+fi
+
+log "StreetMap Success!"

Util/BuildTools/Linux.mk

@@ -3,7 +3,8 @@ default: help
 help:
 	@less ${CARLA_BUILD_TOOLS_FOLDER}/Linux.mk.help
 
-launch: LibCarla.server.release osm2odr
+launch: LibCarla.server.release osm2odr downloadplugins
+	@${CARLA_BUILD_TOOLS_FOLDER}/BuildUE4Plugins.sh --build $(ARGS)
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --build --launch $(ARGS)
 
 launch-only:
@@ -27,6 +28,7 @@ clean.LibCarla:
 clean.PythonAPI:
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildPythonAPI.sh --clean
 clean.CarlaUE4Editor:
+	@${CARLA_BUILD_TOOLS_FOLDER}/BuildUE4Plugins.sh --clean $(ARGS)
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --clean
 clean.osm2odr:
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildOSM2ODR.sh --clean
@@ -36,9 +38,11 @@ rebuild: setup
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --rebuild
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildOSM2ODR.sh --rebuild
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildPythonAPI.sh --rebuild $(ARGS)
+	@${CARLA_BUILD_TOOLS_FOLDER}/BuildUE4Plugins.sh --rebuild $(ARGS)
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --rebuild $(ARGS)
 
 hard-clean:
+	@${CARLA_BUILD_TOOLS_FOLDER}/BuildUE4Plugins.sh --clean $(ARGS)
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --hard-clean
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildOSM2ODR.sh --clean
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildPythonAPI.sh --clean
@@ -79,7 +83,8 @@ examples:
 run-examples:
 	@for D in ${CARLA_EXAMPLES_FOLDER}/*; do [ -d "$${D}" ] && make -C $${D} run.only; done
 
-CarlaUE4Editor: LibCarla.server.release osm2odr
+CarlaUE4Editor: LibCarla.server.release osm2odr downloadplugins
+	@${CARLA_BUILD_TOOLS_FOLDER}/BuildUE4Plugins.sh --build $(ARGS)
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --build $(ARGS)
 
 .PHONY: PythonAPI
@@ -125,7 +130,7 @@ LibCarla.client.release: setup
 
 LibCarla.client.rss: LibCarla.client.rss.debug LibCarla.client.rss.release
 LibCarla.client.rss.debug: setup ad-rss
-	@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --client --debug --rss 
+	@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --client --debug --rss
 LibCarla.client.rss.release: setup ad-rss
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --client --release --rss
 
@@ -133,7 +138,7 @@ LibCarla.client.rss.release: setup ad-rss
 plugins:
 	@${CARLA_BUILD_TOOLS_FOLDER}/Plugins.sh $(ARGS)
 
-setup:
+setup downloadplugins:
 	@${CARLA_BUILD_TOOLS_FOLDER}/Setup.sh $(ARGS)
 
 ad-rss:
@@ -153,3 +158,6 @@ osm2odr:
 
 osmrenderer:
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildOSMRenderer.sh
+
+downloadplugins:
+	@${CARLA_BUILD_TOOLS_FOLDER}/BuildUE4Plugins.sh --build $(ARGS)

Util/BuildTools/Package.sh

@@ -289,7 +289,7 @@ for PACKAGE_NAME in "${PACKAGES[@]}" ; do if [[ ${PACKAGE_NAME} != "Carla" ]] ;
   # MAPS_TO_COOK is read into an array as tokens separated by IFS
   read -ra ADDR <<< "$MAPS_TO_COOK"
   for i in "${ADDR[@]}"; do # access each element of array
-    
+
     XODR_FILE_PATH="${CARLAUE4_ROOT_FOLDER}/Content${i:5}"
     MAP_NAME=${XODR_FILE_PATH##*/}
     XODR_FILE=$(find "${CARLAUE4_ROOT_FOLDER}/Content" -name "${MAP_NAME}.xodr" -print -quit)
@@ -318,13 +318,13 @@ for PACKAGE_NAME in "${PACKAGES[@]}" ; do if [[ ${PACKAGE_NAME} != "Carla" ]] ;
     done
   done
 
-    rm -Rf "./CarlaUE4/Metadata"
-    rm -Rf "./CarlaUE4/Plugins"
-    rm -Rf "./CarlaUE4/Content/${PACKAGE_NAME}/Maps/${PROPS_MAP_NAME}"
-    rm -f "./CarlaUE4/AssetRegistry.bin"
+  rm -Rf "./CarlaUE4/Metadata"
+  rm -Rf "./CarlaUE4/Plugins"
+  rm -Rf "./CarlaUE4/Content/${PACKAGE_NAME}/Maps/${PROPS_MAP_NAME}"
+  rm -f "./CarlaUE4/AssetRegistry.bin"
 
   if ${DO_TARBALL} ; then
-  
+
     if ${SINGLE_PACKAGE} ; then
       tar -rf ${DESTINATION} *
     else

Util/BuildTools/Setup.bat

@@ -1,5 +1,5 @@
 @echo off
-setlocal
+setlocal enabledelayedexpansion
 
 rem BAT script that downloads and generates
 rem rpclib, gtest and boost libraries for CARLA (carla.org).
@@ -54,7 +54,7 @@ if not "%1"=="" (
     if "%1"=="--help" (
         goto help
     )
-    
+
     shift
     goto :arg-parse
 )

Util/BuildTools/Vars.mk

@@ -32,3 +32,6 @@ CMAKE_CONFIG_FILE=${CARLA_BUILD_FOLDER}/CMakeLists.txt.in
 
 LIBCARLA_TEST_CONTENT_FOLDER=${CARLA_BUILD_FOLDER}/test-content
 CARLA_EXAMPLES_FOLDER=${CURDIR}/Examples
+
+CARLAUE4_ADDPLUGINS_FOLDER=${CURDIR}/Unreal/CarlaUE4/Plugins
+CARLAUE4_STREETMAP_FOLDER=${CARLAUE4_ADDPLUGINS_FOLDER}/Streetmap

Util/BuildTools/Windows.mk

@@ -71,9 +71,10 @@ client: setup
 LibCarla: setup
 	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.bat" --server --client --generator "$(GENERATOR)"
 
-setup:
+setup: downloadplugin
 	@"${CARLA_BUILD_TOOLS_FOLDER}/Setup.bat" --boost-toolset msvc-14.2 --generator "$(GENERATOR)" $(ARGS)
 
+
 .PHONY: Plugins
 plugins:
 	@"${CARLA_BUILD_TOOLS_FOLDER}/Plugins.bat" $(ARGS)
@@ -86,3 +87,6 @@ osm2odr:
 
 osmrenderer:
 	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildOSMRenderer.bat"
+
+downloadplugin:
+	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildUE4Plugins.bat" --build $(ARGS)