Aaron/digital twins add local file (#7167)

* Added timers to setup.sh for downloading and unzipping

* Adding support for local XODRs

* Added allowtorendering to generate tile commandlet and make sure it works with local files

* Update Changelog

* Updated OpenDrive To Map

CHANGELOG.md

@@ -1,7 +1,9 @@
 ## Latest Changes
  * Prevent from segfault on failing SignalReference identification when loading OpenDrive files
-   * Added vehicle doors to the recorder
+ * Added vehicle doors to the recorder
  * Added functions to get actor' components transform
+ * Added posibility to Digital Twins to work with local files (osm and xodr)
+ * Enable proper material merging for Building in Digital Twins
  * Added functions to get actor' bones transforms
  * Added functions to get actor' bones and components names
  * Added functions to get actor' sockets transforms

LibCarla/source/carla/road/Map.cpp

@@ -1238,7 +1238,11 @@ namespace road {
                 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(roadinfo){
+                  transforms.push_back(std::make_pair(treeTransform, roadinfo->GetType()));
+                }else{
+                  transforms.push_back(std::make_pair(treeTransform, "urban"));
+                }
               }
               s_current += distancebetweentrees;
             }

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

@@ -154,16 +154,32 @@ void UOpenDriveToMap::CreateMap()
     UE_LOG(LogCarlaToolsMapGenerator, Error, TEXT("Map Name Is Empty") );
     return;
   }
-  if ( !IsValid(FileDownloader) )
+
+  if( !Url.IsEmpty() ) {
+    if ( !IsValid(FileDownloader) )
+    {
+      FileDownloader = NewObject<UCustomFileDownloader>();
+    }
+
+    FileDownloader->ResultFileName = MapName;
+    FileDownloader->Url = Url;
+
+    FileDownloader->DownloadDelegate.BindUObject( this, &UOpenDriveToMap::ConvertOSMInOpenDrive );
+    FileDownloader->StartDownload();
+  }
+  else if(LocalFilePath.EndsWith(".xodr"))
   {
-    FileDownloader = NewObject<UCustomFileDownloader>();
+    ImportXODR();
+  }
+  else if(LocalFilePath.EndsWith(".osm"))
+  {
+    ImportOSM();
+  }
+  else
+  {
+    UE_LOG(LogCarlaToolsMapGenerator, Error, TEXT("URL and Local FilePath are Empty. URL: %s  Local FilePath: %s"), *Url, *LocalFilePath );
   }
 
-  FileDownloader->ResultFileName = MapName;
-  FileDownloader->Url = Url;
-
-  FileDownloader->DownloadDelegate.BindUObject( this, &UOpenDriveToMap::ConvertOSMInOpenDrive );
-  FileDownloader->StartDownload();
 }
 
 void UOpenDriveToMap::CreateTerrain( const int MeshGridSize, const float MeshGridSectionSize)
@@ -490,7 +506,7 @@ void UOpenDriveToMap::GenerateAll(const boost::optional<carla::road::Map>& Param
   {
     GenerateRoadMesh(ParamCarlaMap, MinLocation, MaxLocation);
     GenerateLaneMarks(ParamCarlaMap, MinLocation, MaxLocation);
-    //GenerateSpawnPoints(ParamCarlaMap);
+    GenerateSpawnPoints(ParamCarlaMap, MinLocation, MaxLocation);
     CreateTerrain(12800, 256);
     GenerateTreePositions(ParamCarlaMap, MinLocation, MaxLocation);
     GenerationFinished(MinLocation, MaxLocation);
@@ -714,10 +730,14 @@ void UOpenDriveToMap::GenerateSpawnPoints( const boost::optional<carla::road::Ma
   for (const auto &Wp : Waypoints)
   {
     const FTransform Trans = ParamCarlaMap->ComputeTransform(Wp);
-    AVehicleSpawnPoint *Spawner = UEditorLevelLibrary::GetEditorWorld()->SpawnActor<AVehicleSpawnPoint>();
-    Spawner->SetActorRotation(Trans.GetRotation());
-    Spawner->SetActorLocation(Trans.GetTranslation() + FVector(0.f, 0.f, SpawnersHeight));
-    ActorsToMove.Add(Spawner);
+    if( Trans.GetLocation().X >= MinLocation.X && Trans.GetLocation().Y >= MinLocation.Y &&
+        Trans.GetLocation().X <= MaxLocation.X && Trans.GetLocation().Y <= MaxLocation.Y)
+    {
+      AVehicleSpawnPoint *Spawner = UEditorLevelLibrary::GetEditorWorld()->SpawnActor<AVehicleSpawnPoint>();
+      Spawner->SetActorRotation(Trans.GetRotation());
+      Spawner->SetActorLocation(Trans.GetTranslation() + FVector(0.f, 0.f, SpawnersHeight));
+      ActorsToMove.Add(Spawner);
+    }
   }
 }
 
@@ -878,6 +898,41 @@ bool UOpenDriveToMap::IsInRoad(
   return false;
 }
 
+void UOpenDriveToMap::ImportXODR(){
+  IPlatformFile& FileManager = FPlatformFileManager::Get().GetPlatformFile();
+  FString MyFileDestination = FPaths::ProjectContentDir() + "CustomMaps/" + MapName + "/OpenDrive/" + MapName + ".xodr";
+
+  if(FileManager.CopyFile(  *MyFileDestination, *LocalFilePath,
+                              EPlatformFileRead::None,
+                              EPlatformFileWrite::None))
+  {
+    UE_LOG(LogCarlaToolsMapGenerator, Verbose, TEXT("FilePaths: File Copied!"));
+    FilePath = MyFileDestination;
+    LoadMap();
+  }
+  else
+  {
+    UE_LOG(LogCarlaToolsMapGenerator, Error, TEXT("FilePaths local xodr file not copied: File not Copied!"));
+  }
+}
+
+void UOpenDriveToMap::ImportOSM(){
+  IPlatformFile& FileManager = FPlatformFileManager::Get().GetPlatformFile();
+  FString MyFileDestination = FPaths::ProjectContentDir() + "CustomMaps/" + MapName + "/OpenDrive/" + MapName + ".osm";
+
+  if(FileManager.CopyFile(  *MyFileDestination, *LocalFilePath,
+                              EPlatformFileRead::None,
+                              EPlatformFileWrite::None))
+  {
+    UE_LOG(LogCarlaToolsMapGenerator, Verbose, TEXT("FilePaths: File Copied!"));
+    ConvertOSMInOpenDrive();
+  }
+  else
+  {
+    UE_LOG(LogCarlaToolsMapGenerator, Error, TEXT("FilePaths local osm file not copied: File not Copied!"));
+  }
+}
+
 void UOpenDriveToMap::MoveActorsToSubLevels(TArray<AActor*> ActorsToMove)
 {
   AActor* QueryActor = UGameplayStatics::GetActorOfClass(

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

@@ -91,6 +91,9 @@ public:
   UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="Settings" )
   FString Url;
 
+  UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="Settings" )
+  FString LocalFilePath;
+
   UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Settings")
   FVector2D OriginGeoCoordinates;
 
@@ -213,6 +216,9 @@ private:
 
   void InitTextureData();
 
+  void ImportXODR();
+  void ImportOSM();
+
   UPROPERTY()
   UCustomFileDownloader* FileDownloader;
   UPROPERTY()