Fixed bugs of importing assets (#2068)

* Refactor Commandlet + made small fix

* fixed scale of assets when importing them

* Fixed bug of adding assets automatically, but semantic segmentation to be fixed

* small fix + hiding movemeshes call until its stable

* Meshes are moved to semantic segmentation folders

* Retagging semantic segmentation

* Redefined tags, refactor and added comments

* Updated Changelog

* created a move assets commandlet

* Removing RoadRunnerFiles folder

* readded flag of only prepare maps in import script

* Removing ContentBrowser module

* Added Import folder

* updated readme

* Apply zero rotation

* updated doc link

* updated readme

* refactoring

* Adding more comments and refactoring

* Removed unnecesary include header files

* Remove unnecessary includes in source files

.gitignore

@@ -6,8 +6,7 @@ Util/Build
 Install
 
 /ExportedMaps
-/Import
+/Import/*/
-/RoadRunnerFiles/*/
 
 *.VC.db
 *.VC.opendb

CHANGELOG.md

@@ -3,6 +3,7 @@
   * Added Doxygen documentation online with automatic updates through Jenkins pipeline
   * Fixed client_bounding_boxes.py example script
   * Exposed in the API: camera, exposure, depth of field, tone mapper and color attributes for the RGB sensor
+  * Fixed materials and semantic segmentation issues regarding importing assets
 
 ## CARLA 0.9.6
 

Import/README.md

@@ -0,0 +1,4 @@
+CARLA Simulator
+===============
+
+Please, place all the packages containing props and maps tom import in this folder. For more information, see topic [Creating standalone asset packages for distribution](https://carla.readthedocs.io/en/latest/asset_packages_for_dist/)

RoadRunnerFiles/README.txt

@@ -1,34 +0,0 @@
-This is the place where the generate_map.py will look for the maps.
-
-The structure must be one folder per map, with the same name as the .fbx and .xodr files that will be inside said folder.
-
-P.e.: 
-RoadRunnerFiles/
-├── AwesomeMap01
-│   ├── Asphalt1_Diff.png
-│   ├── Asphalt1_Norm.png
-│   ├── Asphalt1_Spec.png
-│   ├── Grass1_Diff.png
-│   ├── Grass1_Norm.png
-│   ├── Grass1_Spec.png
-│   ├── LaneMarking1_Diff.png
-│   ├── LaneMarking1_Norm.png
-│   ├── LaneMarking1_Spec.png
-│   ├── AwesomeMap01.fbx
-│   └── AwesomeMap01.xodr
-└── AwesomeMap02
-    ├── Asphalt1_Diff.png
-    ├── Asphalt1_Norm.png
-    ├── Asphalt1_Spec.png
-    ├── Concrete1_Diff.png
-    ├── Concrete1_Norm.png
-    ├── Concrete1_Spec.png
-    ├── Grass1_Diff.png
-    ├── Grass1_Norm.png
-    ├── Grass1_Spec.png
-    ├── LaneMarking1_Diff.png
-    ├── LaneMarking1_Norm.png
-    ├── LaneMarking1_Spec.png
-    ├── AwesomeMap02.fbx
-    └── AwesomeMap02.xodr
-

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Commandlet/MoveAssetsCommandlet.cpp

@@ -0,0 +1,170 @@
+// 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>.
+
+#include "MoveAssetsCommandlet.h"
+
+UMoveAssetsCommandlet::UMoveAssetsCommandlet()
+{
+  IsClient = false;
+  IsEditor = true;
+  IsServer = false;
+  LogToConsole = true;
+}
+#if WITH_EDITORONLY_DATA
+
+// NOTE: Assets imported from a map FBX will be classified for semantic
+// segmentation as ROAD, ROADLINES AND TERRAIN based on the asset name
+// defined in RoadRunner. These tags will be used for moving the meshes
+// and for specifying the path to these meshes when spawning them in a world.
+namespace SSTags {
+  // Carla Semantic Segmentation Folder Tags
+  static const FString ROAD       = TEXT("Roads");
+  static const FString ROADLINES  = TEXT("RoadLines");
+  static const FString TERRAIN    = TEXT("Terrain");
+
+  // RoadRunner Tags
+  static const FString R_ROAD     = TEXT("RoadNode");
+  static const FString R_TERRAIN  = TEXT("Terrain");
+  static const FString R_MARKING  = TEXT("MarkingNode");
+}
+
+FMovePackageParams UMoveAssetsCommandlet::ParseParams(const FString &InParams) const
+{
+  TArray<FString> Tokens;
+  TArray<FString> Params;
+
+  ParseCommandLine(*InParams, Tokens, Params);
+
+  // Parse and store package name
+  FMovePackageParams PackageParams;
+  FParse::Value(*InParams, TEXT("PackageName="), PackageParams.Name);
+
+  // Parse and store maps name in an array
+  FString Maps;
+  FParse::Value(*InParams, TEXT("Maps="), Maps);
+
+  TArray<FString> MapNames;
+  Maps.ParseIntoArray(MapNames, TEXT(" "), true);
+
+  PackageParams.MapNames = MapNames;
+
+  return PackageParams;
+}
+
+void UMoveAssetsCommandlet::MoveAssets(const FMovePackageParams &PackageParams)
+{
+  // Create a library instance for loading all the assets
+  AssetsObjectLibrary = UObjectLibrary::CreateLibrary(UStaticMesh::StaticClass(), false, GIsEditor);
+  AssetsObjectLibrary->AddToRoot();
+
+  // Start loading all the assets in the library and classify them for semantic
+  // segmentation
+  for (const auto &Map : PackageParams.MapNames)
+  {
+    MoveAssetsFromMapForSemanticSegmentation(PackageParams.Name, Map);
+  }
+}
+
+void MoveFiles(const TArray<UObject *> &Assets, const FString &DestPath)
+{
+  check(DestPath.Len() > 0);
+
+  FAssetToolsModule &AssetToolsModule = FModuleManager::LoadModuleChecked<FAssetToolsModule>("AssetTools");
+  TArray<FAssetRenameData> AssetsAndNames;
+  for (auto AssetIt = Assets.CreateConstIterator(); AssetIt; ++AssetIt)
+  {
+    UObject *Asset = *AssetIt;
+
+    if (!ensure(Asset))
+    {
+      continue;
+    }
+
+    new(AssetsAndNames) FAssetRenameData(Asset, DestPath, Asset->GetName());
+  }
+
+  if (AssetsAndNames.Num() > 0)
+  {
+    AssetToolsModule.Get().RenameAssetsWithDialog(AssetsAndNames);
+  }
+}
+
+void UMoveAssetsCommandlet::MoveAssetsFromMapForSemanticSegmentation(
+    const FString &PackageName,
+    const FString &MapName)
+{
+  // Prepare a UObjectLibrary for moving assets
+  const FString SrcPath = TEXT("/Game/") + PackageName + TEXT("/Maps/") + MapName;
+  AssetsObjectLibrary->LoadAssetDataFromPath(*SrcPath);
+  AssetsObjectLibrary->LoadAssetsFromAssetData();
+
+  // Load Assets to move
+  MapContents.Empty();
+  AssetsObjectLibrary->GetAssetDataList(MapContents);
+  AssetsObjectLibrary->ClearLoaded();
+
+  TArray<FString> DestinationPaths = {SSTags::ROAD, SSTags::ROADLINES, SSTags::TERRAIN};
+
+  // Init Map with keys
+  TMap<FString, TArray<UObject *>> AssetDataMap;
+  for (const auto &Paths : DestinationPaths)
+  {
+    AssetDataMap.Add(Paths, {});
+  }
+
+  for (const auto &MapAsset : MapContents)
+  {
+    // Get AssetName
+    UStaticMesh *MeshAsset = CastChecked<UStaticMesh>(MapAsset.GetAsset());
+    FString ObjectName = MeshAsset->GetName();
+
+    FString AssetName;
+    MapAsset.AssetName.ToString(AssetName);
+
+    if (SrcPath.Len())
+    {
+
+      const FString CurrentPackageName = MeshAsset->GetOutermost()->GetName();
+
+      if (!ensure(CurrentPackageName.StartsWith(SrcPath)))
+      {
+        continue;
+      }
+
+      // Bind between tags and classify assets according to semantic
+      // segmentation
+      if (AssetName.Contains(SSTags::R_ROAD))
+      {
+        AssetDataMap[SSTags::ROAD].Add(MeshAsset);
+      }
+      else if (AssetName.Contains(SSTags::R_MARKING))
+      {
+        AssetDataMap[SSTags::ROADLINES].Add(MeshAsset);
+      }
+      else if (AssetName.Contains(SSTags::R_TERRAIN))
+      {
+        AssetDataMap[SSTags::TERRAIN].Add(MeshAsset);
+      }
+    }
+  }
+
+  // Move assets to correspoding semantic segmentation folders
+  for (const auto &Elem : AssetDataMap)
+  {
+    FString DestPath = TEXT("/Game/") + PackageName + TEXT("/Static/") + Elem.Key + "/" + MapName;
+    MoveFiles(Elem.Value, DestPath);
+  }
+}
+
+int32 UMoveAssetsCommandlet::Main(const FString &Params)
+{
+  FMovePackageParams PackageParams = ParseParams(Params);
+
+  MoveAssets(PackageParams);
+
+  return 0;
+}
+#endif

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Commandlet/MoveAssetsCommandlet.h

@@ -0,0 +1,78 @@
+// 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 "Carla/OpenDrive/OpenDriveActor.h"
+#include "Commandlets/Commandlet.h"
+#include "Runtime/Engine/Classes/Engine/ObjectLibrary.h"
+
+#if WITH_EDITORONLY_DATA
+#include "AssetRegistry/Public/AssetRegistryModule.h"
+#include "Developer/AssetTools/Public/AssetToolsModule.h"
+#endif // WITH_EDITORONLY_DATA
+#include "MoveAssetsCommandlet.generated.h"
+
+/// Struct containing Package Params, used for storing the parsed arguments when
+/// invoking this commandlet
+USTRUCT()
+struct CARLA_API FMovePackageParams
+{
+  GENERATED_USTRUCT_BODY()
+
+  FString Name;
+
+  TArray<FString> MapNames;
+};
+
+UCLASS()
+class UMoveAssetsCommandlet : public UCommandlet
+{
+  GENERATED_BODY()
+
+public:
+
+  /// Default constructor.
+  UMoveAssetsCommandlet();
+#if WITH_EDITORONLY_DATA
+
+  /// Parses the command line parameters provided through @a InParams The
+  /// arguments to parse are the package name and a list of map names
+  /// concatenated in a string.
+  FMovePackageParams ParseParams(const FString &InParams) const;
+
+  /// Moves all the assets contained in a map from @a SrcPath to @a DestPath
+  void MoveAssetsFromMapForSemanticSegmentation(const FString &PackageName, const FString &MapName);
+
+  /// Moves the meshes of all maps listed in a @PackageParams
+  void MoveAssets(const FMovePackageParams &PackageParams);
+
+public:
+
+  /// Main method and entry of the commandlet, taking as input parameters @a
+  /// Params.
+  virtual int32 Main(const FString &Params) override;
+
+#endif // WITH_EDITORONLY_DATA
+
+private:
+
+  /// The following data structures are declared as class members and with
+  /// UPROPERTY macro to avoid UE4 to garbage collect them.
+
+  /// Loaded assets from any object library
+  UPROPERTY()
+  TArray<FAssetData> AssetDatas;
+
+  /// Loaded maps from any object library
+  UPROPERTY()
+  TArray<FAssetData> MapContents;
+
+  /// Used for loading assets in object library. Loaded Data is stored in
+  /// AssetDatas.
+  UPROPERTY()
+  UObjectLibrary *AssetsObjectLibrary;
+};

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Commandlet/PrepareAssetsForCookingCommandlet.cpp

@@ -5,20 +5,20 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #include "PrepareAssetsForCookingCommandlet.h"
-#include "GameFramework/WorldSettings.h"
-#include "HAL/PlatformFilemanager.h"
-#include "HAL/PlatformFile.h"
 
-#include "UObject/MetaData.h"
+#include "HAL/PlatformFilemanager.h"
 
 UPrepareAssetsForCookingCommandlet::UPrepareAssetsForCookingCommandlet()
 {
+  // Set necessary flags to run commandlet
   IsClient = false;
   IsEditor = true;
   IsServer = false;
   LogToConsole = true;
 
 #if WITH_EDITORONLY_DATA
+  // Get Carla Default materials, these will be used for maps that need to use
+  // Carla materials
   static ConstructorHelpers::FObjectFinder<UMaterial> MarkingNode(TEXT(
       "Material'/Game/Carla/Static/GenericMaterials/LaneMarking/M_MarkingLane_W.M_MarkingLane_W'"));
   static ConstructorHelpers::FObjectFinder<UMaterial> RoadNode(TEXT(
@@ -44,7 +44,11 @@ FPackageParams UPrepareAssetsForCookingCommandlet::ParseParams(const FString &In
   ParseCommandLine(*InParams, Tokens, Params);
 
   FPackageParams PackageParams;
+
+  // Parse and store Package name
   FParse::Value(*InParams, TEXT("PackageName="), PackageParams.Name);
+
+  // Parse and store flag for only preparing maps
   FParse::Bool(*InParams, TEXT("OnlyPrepareMaps="), PackageParams.bOnlyPrepareMaps);
   return PackageParams;
 }
@@ -70,40 +74,22 @@ void UPrepareAssetsForCookingCommandlet::LoadWorld(FAssetData &AssetData)
 
 TArray<AStaticMeshActor *> UPrepareAssetsForCookingCommandlet::SpawnMeshesToWorld(
     const TArray<FString> &AssetsPaths,
-    bool bUseCarlaMaterials,
+    bool bUseCarlaMaterials)
-    bool bIsPropsMap)
 {
   TArray<AStaticMeshActor *> SpawnedMeshes;
 
-  // Remove the meshes names from the original path for props, so we can load
+  // Load assets specified in AssetsPaths by using an object library
-  // props inside folder
-  TArray<FString> AssetsPathsDirectories = AssetsPaths;
-  if (bIsPropsMap)
-  {
-    for (auto &AssetPath : AssetsPathsDirectories)
-    {
-      AssetPath.Split(
-          TEXT("/"),
-          &AssetPath,
-          nullptr,
-          ESearchCase::Type::IgnoreCase,
-          ESearchDir::Type::FromEnd);
-    }
-  }
-
-  // Load assets specified in AssetsPathsDirectories by using an object library
   // for building map world
   AssetsObjectLibrary = UObjectLibrary::CreateLibrary(UStaticMesh::StaticClass(), false, GIsEditor);
   AssetsObjectLibrary->AddToRoot();
-  AssetsObjectLibrary->LoadAssetDataFromPaths(AssetsPathsDirectories);
+
+  AssetsObjectLibrary->LoadAssetDataFromPaths(AssetsPaths);
   AssetsObjectLibrary->LoadAssetsFromAssetData();
   MapContents.Empty();
   AssetsObjectLibrary->GetAssetDataList(MapContents);
 
   // Create default Transform for all assets to spawn
   const FTransform zeroTransform = FTransform();
-  FVector initialVector = FVector(0, 0, 0);
-  FRotator initialRotator = FRotator(0, 180, 0);
 
   UStaticMesh *MeshAsset;
   AStaticMeshActor *MeshActor;
@@ -111,32 +97,35 @@ TArray<AStaticMeshActor *> UPrepareAssetsForCookingCommandlet::SpawnMeshesToWorl
   for (auto MapAsset : MapContents)
   {
     // Spawn Static Mesh
-    MeshAsset = CastChecked<UStaticMesh>(MapAsset.GetAsset());
+    MeshAsset = Cast<UStaticMesh>(MapAsset.GetAsset());
-    MeshActor = World->SpawnActor<AStaticMeshActor>(AStaticMeshActor::StaticClass(),
+    if (MeshAsset)
-        initialVector,
+    {
-        initialRotator);
+      MeshActor = World->SpawnActor<AStaticMeshActor>(AStaticMeshActor::StaticClass(), zeroTransform);
       MeshActor->GetStaticMeshComponent()->SetStaticMesh(CastChecked<UStaticMesh>(MeshAsset));
+
       SpawnedMeshes.Add(MeshActor);
       if (bUseCarlaMaterials)
       {
-      // Set Carla Materials
+        // Set Carla Materials depending on RoadRunner's Semantic Segmentation
+        // tag
         FString AssetName;
         MapAsset.AssetName.ToString(AssetName);
-      if (AssetName.Contains("MarkingNode"))
+        if (AssetName.Contains(SSTags::R_MARKING))
         {
           MeshActor->GetStaticMeshComponent()->SetMaterial(0, MarkingNodeMaterial);
           MeshActor->GetStaticMeshComponent()->SetMaterial(1, MarkingNodeMaterialAux);
         }
-      else if (AssetName.Contains("RoadNode"))
+        else if (AssetName.Contains(SSTags::R_ROAD))
         {
           MeshActor->GetStaticMeshComponent()->SetMaterial(0, RoadNodeMaterial);
         }
-      else if (AssetName.Contains("Terrain"))
+        else if (AssetName.Contains(SSTags::R_TERRAIN))
         {
           MeshActor->GetStaticMeshComponent()->SetMaterial(0, TerrainNodeMaterial);
         }
       }
     }
+  }
 
   // Clear loaded assets in library
   AssetsObjectLibrary->ClearLoaded();
@@ -162,9 +151,9 @@ void UPrepareAssetsForCookingCommandlet::DestroySpawnedActorsInWorld(
 
 bool UPrepareAssetsForCookingCommandlet::SaveWorld(
     FAssetData &AssetData,
-    FString &PackageName,
+    const FString &PackageName,
-    FString &DestPath,
+    const FString &DestPath,
-    FString &WorldName)
+    const FString &WorldName)
 {
   // Create Package to save
   UPackage *Package = AssetData.GetPackage();
@@ -263,7 +252,7 @@ FAssetsPaths UPrepareAssetsForCookingCommandlet::GetAssetsPathFromPackage(const
 
         FString PropAssetPath = PropJsonObject->GetStringField(TEXT("path"));
 
-        AssetsPaths.PropsPaths.Add(PropAssetPath);
+        AssetsPaths.PropsPaths.Add(std::move(PropAssetPath));
       }
     }
   }
@@ -309,6 +298,103 @@ bool UPrepareAssetsForCookingCommandlet::SavePackage(const FString &PackagePath,
       *PackageFileName, GError, nullptr, true, true, SAVE_NoError);
 }
 
+void UPrepareAssetsForCookingCommandlet::GenerateMapPathsFile(
+    const FAssetsPaths &AssetsPaths,
+    const FString &PropsMapPath)
+{
+  FString MapPathData;
+  for (const auto &Map : AssetsPaths.MapsPaths)
+  {
+    MapPathData.Append(Map.Path + TEXT("/") + Map.Name + TEXT("+"));
+  }
+
+  if (PropsMapPath.IsEmpty())
+  {
+    MapPathData.Append(PropsMapPath);
+  }
+  else
+  {
+    if (!MapPathData.IsEmpty())
+    {
+      MapPathData.RemoveFromEnd(TEXT("+"));
+    }
+  }
+
+  FString SaveDirectory = FPaths::ProjectContentDir();
+  FString FileName = FString("MapPaths.txt");
+  SaveStringTextToFile(SaveDirectory, FileName, MapPathData, true);
+}
+
+void UPrepareAssetsForCookingCommandlet::GeneratePackagePathFile(const FString &PackageName)
+{
+  FString SaveDirectory = FPaths::ProjectContentDir();
+  FString FileName = FString("PackagePath.txt");
+  FString PackageJsonFilePath = GetFirstPackagePath(PackageName);
+  SaveStringTextToFile(SaveDirectory, FileName, PackageJsonFilePath, true);
+}
+
+void UPrepareAssetsForCookingCommandlet::PrepareMapsForCooking(
+    const FString &PackageName,
+    const TArray<FMapData> &MapsPaths)
+{
+  // Load World
+  FAssetData AssetData;
+  LoadWorld(AssetData);
+  World = CastChecked<UWorld>(AssetData.GetAsset());
+
+  FString BasePath = TEXT("/Game/") + PackageName + TEXT("/Static/");
+
+  for (const auto &Map : MapsPaths)
+  {
+    FString MapPath = TEXT("/") + Map.Name;
+
+    FString DefaultPath   = TEXT("/Game/") + PackageName + TEXT("/Maps/") + Map.Name;
+    FString RoadsPath     = BasePath + SSTags::ROAD       + MapPath;
+    FString RoadLinesPath = BasePath + SSTags::ROADLINES  + MapPath;
+    FString TerrainPath   = BasePath + SSTags::TERRAIN    + MapPath;
+
+    // Spawn assets located in semantic segmentation fodlers
+    TArray<FString> DataPath = {DefaultPath, RoadsPath, RoadLinesPath, TerrainPath};
+
+    TArray<AStaticMeshActor *> SpawnedActors = SpawnMeshesToWorld(DataPath, Map.bUseCarlaMapMaterials);
+
+    // Save the World in specified path
+    SaveWorld(AssetData, PackageName, Map.Path, Map.Name);
+
+    // Remove spawned actors from world to keep equal as BaseMap
+    DestroySpawnedActorsInWorld(SpawnedActors);
+  }
+}
+
+void UPrepareAssetsForCookingCommandlet::PreparePropsForCooking(
+    FString &PackageName,
+    const TArray<FString> &PropsPaths,
+    FString &MapDestPath)
+{
+  // Load World
+  FAssetData AssetData;
+  LoadWorld(AssetData);
+  World = CastChecked<UWorld>(AssetData.GetAsset());
+
+  // Remove the meshes names from the original path for props, so we can load
+  // props inside folder
+  TArray<FString> PropPathDirs = PropsPaths;
+
+  for (auto &PropPath : PropPathDirs)
+  {
+    PropPath.Split(TEXT("/"), &PropPath, nullptr, ESearchCase::Type::IgnoreCase, ESearchDir::Type::FromEnd);
+  }
+
+  // Add props in a single Base Map
+  TArray<AStaticMeshActor *> SpawnedActors = SpawnMeshesToWorld(PropPathDirs, false);
+
+  FString MapName("PropsMap");
+  SaveWorld(AssetData, PackageName, MapDestPath, MapName);
+
+  DestroySpawnedActorsInWorld(SpawnedActors);
+  MapObjectLibrary->ClearLoaded();
+}
+
 int32 UPrepareAssetsForCookingCommandlet::Main(const FString &Params)
 {
   FPackageParams PackageParams = ParseParams(Params);
@@ -316,71 +402,26 @@ int32 UPrepareAssetsForCookingCommandlet::Main(const FString &Params)
   // Get Props and Maps Path
   FAssetsPaths AssetsPaths = GetAssetsPathFromPackage(PackageParams.Name);
 
-  // Load World
-  FAssetData AssetData;
-  LoadWorld(AssetData);
-  World = CastChecked<UWorld>(AssetData.GetAsset());
-
   if (PackageParams.bOnlyPrepareMaps)
   {
-    for (auto Map : AssetsPaths.MapsPaths)
+    PrepareMapsForCooking(PackageParams.Name, AssetsPaths.MapsPaths);
-    {
-      FString RoadsPath = TEXT("/Game/") + PackageParams.Name + TEXT("/Static/RoadNode/") + Map.Name;
-      FString MarkingLinePath = TEXT("/Game/") + PackageParams.Name + TEXT("/Static/MarkingNode/") + Map.Name;
-      FString TerrainPath = TEXT("/Game/") + PackageParams.Name + TEXT("/Static/TerrainNode/") + Map.Name;
-
-      TArray<FString> DataPath = {RoadsPath, MarkingLinePath, TerrainPath};
-
-      // Add Meshes to inside the loaded World
-      TArray<AStaticMeshActor *> SpawnedActors = SpawnMeshesToWorld(DataPath, Map.bUseCarlaMapMaterials);
-
-      // Save the World in specified path
-      SaveWorld(AssetData, PackageParams.Name, Map.Path, Map.Name);
-
-      // Remove spawned actors from world to keep equal as BaseMap
-      DestroySpawnedActorsInWorld(SpawnedActors);
-    }
   }
   else
   {
-    FString MapPathData;
+    FString PropsMapPath("");
-    for (auto Map : AssetsPaths.MapsPaths)
-    {
-      MapPathData.Append(Map.Path + TEXT("/") + Map.Name + TEXT("+"));
-    }
 
     if (AssetsPaths.PropsPaths.Num() > 0)
     {
       FString MapName("PropsMap");
-      FString WorldDestPath = TEXT("/Game/") + PackageParams.Name +
+      PropsMapPath = TEXT("/Game/") + PackageParams.Name + TEXT("/Maps/") + MapName;
-          TEXT("/Maps/") + MapName;
+      PreparePropsForCooking(PackageParams.Name, AssetsPaths.PropsPaths, MapName);
-
-      MapPathData.Append(WorldDestPath + TEXT("/") + MapName);
-
-      // Add props in a single Base Map
-      TArray<AStaticMeshActor *> SpawnedActors = SpawnMeshesToWorld(AssetsPaths.PropsPaths, false, true);
-
-      SaveWorld(AssetData, PackageParams.Name, WorldDestPath, MapName);
-
-      DestroySpawnedActorsInWorld(SpawnedActors);
-      MapObjectLibrary->ClearLoaded();
-    }
-    else
-    {
-      if (MapPathData.Len() >= 0)
-      {
-        MapPathData.RemoveFromEnd(TEXT("+"));
-      }
     }
 
     // Save Map Path File for further use
-    FString SaveDirectory = FPaths::ProjectContentDir();
+    GenerateMapPathsFile(AssetsPaths, PropsMapPath);
-    FString FileName = FString("MapPaths.txt");
-    SaveStringTextToFile(SaveDirectory, FileName, MapPathData, true);
 
-    FileName = FString("PackagePath.txt");
+    // Saves Package path for further use
-    FString PackageJsonFilePath = GetFirstPackagePath(PackageParams.Name);
+    GeneratePackagePathFile(PackageParams.Name);
-    SaveStringTextToFile(SaveDirectory, FileName, PackageJsonFilePath, true);
   }
 
   return 0;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Commandlet/PrepareAssetsForCookingCommandlet.h

@@ -8,22 +8,15 @@
 
 #include "Carla/OpenDrive/OpenDriveActor.h"
 #include "Commandlets/Commandlet.h"
-#include "Containers/Map.h"
-#include "CoreMinimal.h"
-#include "Engine/World.h"
-#include "Misc/PackageName.h"
 #include "Runtime/Engine/Classes/Engine/ObjectLibrary.h"
-#include "UObject/Package.h"
 
-#if WITH_EDITORONLY_DATA
-#include "AssetRegistry/Public/AssetRegistryModule.h"
-#include "Developer/AssetTools/Public/AssetToolsModule.h"
-#include "Developer/AssetTools/Public/IAssetTools.h"
-#endif // WITH_EDITORONLY_DATA
 #include "Runtime/Engine/Classes/Engine/StaticMeshActor.h"
 #include "PrepareAssetsForCookingCommandlet.generated.h"
 
-/// Struct containing Package Params
+/// Struct containing Package with @a Name and @a bOnlyPrepareMaps flag used to
+/// separate the cooking of maps and props across the different stages (Maps
+/// will be imported during make import command and Props will be imported
+/// during make package command)
 USTRUCT()
 struct CARLA_API FPackageParams
 {
@@ -85,12 +78,15 @@ public:
   /// @pre World is expected to be previously loaded
   TArray<AStaticMeshActor *> SpawnMeshesToWorld(
       const TArray<FString> &AssetsPaths,
-      bool bUseCarlaMaterials,
+      bool bUseCarlaMaterials);
-      bool bIsPropsMap = false);
 
   /// Saves the current World, contained in @a AssetData, into @a DestPath
   /// composed of @a PackageName and with @a WorldName.
-  bool SaveWorld(FAssetData &AssetData, FString &PackageName, FString &DestPath, FString &WorldName);
+  bool SaveWorld(
+      FAssetData &AssetData,
+      const FString &PackageName,
+      const FString &DestPath,
+      const FString &WorldName);
 
   /// Destroys all the previously spawned actors stored in @a SpawnedActors
   void DestroySpawnedActorsInWorld(TArray<AStaticMeshActor *> &SpawnedActors);
@@ -99,6 +95,23 @@ public:
   /// @a PackageName
   FAssetsPaths GetAssetsPathFromPackage(const FString &PackageName) const;
 
+  /// Generates the MapPaths file provided @a AssetsPaths and @a PropsMapPath
+  void GenerateMapPathsFile(const FAssetsPaths &AssetsPaths, const FString &PropsMapPath);
+
+  /// Generates the PackagePat file that contains the path of a package with @a
+  /// PackageName
+  void GeneratePackagePathFile(const FString &PackageName);
+
+  /// For each Map data contained in @MapsPaths, it creates a World, spawn its
+  /// actors inside the world and saves it in .umap format
+  /// in a destination path built from @a PackageName.
+  void PrepareMapsForCooking(const FString &PackageName, const TArray<FMapData> &MapsPaths);
+
+  /// For all the props inside @a PropsPaths, it creates a single World, spawn
+  /// all the props inside the world and saves it in .umap format
+  /// in a destination path built from @a PackageName and @a MapDestPath.
+  void PreparePropsForCooking(FString &PackageName, const TArray<FString> &PropsPaths, FString &MapDestPath);
+
 public:
 
   /// Main method and entry of the commandlet, taking as input parameters @a
@@ -113,7 +126,7 @@ private:
   UPROPERTY()
   TArray<FAssetData> AssetDatas;
 
-  /// Loaded maps from any object library
+  /// Loaded map content from any object library
   UPROPERTY()
   TArray<FAssetData> MapContents;
 

Util/BuildTools/Import.py

@@ -63,8 +63,7 @@ def generate_import_setting_file(package_name, json_dirname, props, maps):
     with open(importfile, "w+") as fh:
         import_groups = []
         file_names = []
-        import_settings = []
+        import_settings = {
-        import_settings.append({
             "bImportMesh": 1,
             "bConvertSceneUnit": 1,
             "bConvertScene": 1,
@@ -78,9 +77,10 @@ def generate_import_setting_file(package_name, json_dirname, props, maps):
             "StaticMeshImportData": {
                 "bRemoveDegenerates": 1,
                 "bAutoGenerateCollision": 0,
-                "bCombineMeshes": 0
+                "bCombineMeshes": 0,
+                "bConvertSceneUnit": 1
+            }
         }
-        })
 
         for prop in props:
             props_dest = "/" + "/".join(["Game", package_name, "Static", prop["tag"], prop["name"]])
@@ -207,52 +207,48 @@ def import_assets_from_json_list(json_list):
             data = json.load(json_file)
             # Take all the fbx registered in the provided json files
             # and place it inside unreal in the provided path (by the json file)
+            maps = []
+            props = []
+            if "maps" in data:
                 maps = data["maps"]
+            if "props" in data:
                 props = data["props"]
+
             package_name = filename.replace(".json", "")
 
             import_assets(package_name, dirname, props, maps)
-            move_uassets(package_name, maps)
 
             if not package_name:
                 print("No Packages JSONs found, nothing to import. Skipping package.")
                 continue
-            prepare_maps_commandlet_for_cooking(package_name)
+
+            # First we only move the meshes to the tagged folders for semantic
+            # segmentation
+            move_assets_commandlet(package_name, maps)
+
+            # We prepare only the maps for cooking after moving them. Props cooking will be done from Package.sh script.
+            prepare_maps_commandlet_for_cooking(package_name, only_prepare_maps=True)
 
 
-def move_uassets(package_name, maps):
+def prepare_maps_commandlet_for_cooking(package_name, only_prepare_maps):
-    for umap in maps:
-        origin_path = os.path.join(CARLA_ROOT_PATH, "Unreal", "CarlaUE4", "Content", package_name, "Maps", umap["name"])
-        dest_base_path = os.path.join(CARLA_ROOT_PATH, "Unreal", "CarlaUE4", "Content", package_name, "Static")
-
-        # Create the 3 posible destination folder path
-        marking_dir = os.path.join(dest_base_path, "MarkingNode", umap["name"])
-        road_dir = os.path.join(dest_base_path, "RoadNode", umap["name"])
-        terrain_dir = os.path.join(dest_base_path, "TerrainNode", umap["name"])
-
-        # Create folders if they do not exist
-        if not os.path.exists(marking_dir):
-            os.makedirs(marking_dir)
-        if not os.path.exists(road_dir):
-            os.makedirs(road_dir)
-        if not os.path.exists(terrain_dir):
-            os.makedirs(terrain_dir)
-
-        # Move uassets to corresponding folder
-        for filename in os.listdir(origin_path):
-            if "MarkingNode" in filename:
-                shutil.move(os.path.join(origin_path, filename), os.path.join(marking_dir, filename))
-            if "RoadNode" in filename:
-                shutil.move(os.path.join(origin_path, filename), os.path.join(road_dir, filename))
-            if "TerrainNode" in filename:
-                shutil.move(os.path.join(origin_path, filename), os.path.join(terrain_dir, filename))
-
-def prepare_maps_commandlet_for_cooking(package_name):
     commandlet_name = "PrepareAssetsForCooking"
     commandlet_arguments = "-PackageName=%s" % package_name
-    commandlet_arguments += " -OnlyPrepareMaps=true"
+    commandlet_arguments += " -OnlyPrepareMaps=%d" % only_prepare_maps
     invoke_commandlet(commandlet_name, commandlet_arguments)
 
+
+def move_assets_commandlet(package_name, maps):
+    commandlet_name = "MoveAssets"
+    commandlet_arguments = "-PackageName=%s" % package_name
+
+    umap_names = ""
+    for umap in maps:
+        umap_names += umap["name"] + " "
+    commandlet_arguments += " -Maps=%s" % umap_names
+
+    invoke_commandlet(commandlet_name, commandlet_arguments)
+
+
 def main():
     import_folder = os.path.join(CARLA_ROOT_PATH, "Import")
     json_list = get_packages_json_list(import_folder)