Digital Twins Update 26//05 (#6502)

* Added way to download files from overpass api

* Save downloaded text to a file

* Changed log type for File manipulation

* Online process files when request is valid

* Correct file format

* Correct file format for UE4 class

* Fix compilation issue due to name change

* Create Widget with OpenFileDialogFunctionality

* Step xodr to map completed

* Generated Static meshes and replace procedural actors

* Created and saved assets during road generation

* Formatted file correctly

* OSM To ODR broguht to UE4

* Full pipeline working on linux

* Added osm2odr support in editor in Windos

* Added Widget to CartaTools

* Fixed Linux compilation error

* Added Carla Game Instance included to avoid compilation error

* Osm Renderer Tool dummy version

* Server creates SVG files when client request it

* SVG creation and rasterization - libraries integration

* Server size working

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

* Fixed mesh format translations

* Trying to paint bitmap into the UTexture

* Bitmap sent and drawn in widget texture with bugs

* Map bitmap shown on widget

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

* Navigation added to widget

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

* Road Generation 0.1 version ready

* Removing Engine Association, Formatting CarlaTools Build dependencies

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

* Fixed indices jumping by two

* 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

* Removing unnecesary spaces

* One tile with landscape and road cut

* 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

* Deleted unnecesary files

* Cleaning code

---------

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>

LibCarla/source/carla/geom/Mesh.cpp

@@ -106,6 +106,10 @@ namespace geom {
     _uvs.push_back(uv);
   }
 
+  void Mesh::AddUVs(const std::vector<uv_type> & uv) {
+    std::copy(uv.begin(), uv.end(), std::back_inserter(_uvs));
+  }
+
   void Mesh::AddMaterial(const std::string &material_name) {
     const size_t open_index = _indexes.size();
     if (!_materials.empty()) {
@@ -306,7 +310,6 @@ namespace geom {
       rhs.GetNormals().end());
 
     const size_t vertex_to_start_concating = v_num - num_vertices_to_link;
-
     for( size_t i = 1; i < num_vertices_to_link; ++i ) {
       _indexes.push_back( vertex_to_start_concating + i );
       _indexes.push_back( vertex_to_start_concating + i  + 1 );

LibCarla/source/carla/geom/Mesh.h

@@ -95,6 +95,9 @@ namespace geom {
     /// Appends a vertex to the vertices list, they will be read 3 in 3.
     void AddUV(uv_type uv);
 
+    /// Appends uvs.
+    void AddUVs(const std::vector<uv_type> & uv);
+
     /// Starts applying a new material to the new added triangles.
     void AddMaterial(const std::string &material_name);
 
@@ -212,6 +215,12 @@ namespace geom {
         }
       }
 
+      for (const auto uv : GetUVs())
+      {
+        // From meters to centimeters
+        Mesh.UV0.Add(FVector2D{uv.x, uv.y});
+      }
+
       return Mesh;
     }
 

LibCarla/source/carla/geom/Simplification.cpp

@@ -0,0 +1,56 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "carla/geom/Simplification.h"
+#include "simplify/Simplify.h"
+
+namespace carla {
+namespace geom {
+
+  void Simplification::Simplificate(const std::unique_ptr<geom::Mesh>& pmesh){
+    Simplify::SimplificationObject Simplification;
+    for (carla::geom::Vector3D& current_vertex : pmesh->GetVertices()) {
+      Simplify::Vertex v;
+      v.p.x = current_vertex.x;
+      v.p.y = current_vertex.y;
+      v.p.z = current_vertex.z;
+      Simplification.vertices.push_back(v);
+    }
+
+    for (size_t i = 0; i < pmesh->GetIndexes().size() - 2; i += 3) {
+      Simplify::Triangle t;
+      t.material = 0;
+      auto indices = pmesh->GetIndexes();
+      t.v[0] = (indices[i]) - 1;
+      t.v[1] = (indices[i + 1]) - 1;
+      t.v[2] = (indices[i + 2]) - 1;
+      Simplification.triangles.push_back(t);
+    }
+
+    // Reduce to the X% of the polys
+    float target_size = Simplification.triangles.size();
+    Simplification.simplify_mesh((target_size * simplification_percentage));
+
+    pmesh->GetVertices().clear();
+    pmesh->GetIndexes().clear();
+
+    for (Simplify::Vertex& current_vertex : Simplification.vertices) {
+      carla::geom::Vector3D v;
+      v.x = current_vertex.p.x;
+      v.y = current_vertex.p.y;
+      v.z = current_vertex.p.z;
+      pmesh->AddVertex(v);
+    }
+
+    for (size_t i = 0; i < Simplification.triangles.size(); ++i) {
+      pmesh->GetIndexes().push_back((Simplification.triangles[i].v[0]) + 1);
+      pmesh->GetIndexes().push_back((Simplification.triangles[i].v[1]) + 1);
+      pmesh->GetIndexes().push_back((Simplification.triangles[i].v[2]) + 1);
+    }
+  }
+
+} // namespace geom
+} // namespace carla

LibCarla/source/carla/geom/Simplification.h

@@ -0,0 +1,29 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/geom/Mesh.h"
+
+namespace carla {
+namespace geom {
+
+  class Simplification {
+  public:
+
+    Simplification() = default;
+
+    Simplification(float simplificationrate)
+      : simplification_percentage(simplificationrate)
+      {}
+
+    float simplification_percentage;
+
+    void Simplificate(const std::unique_ptr<geom::Mesh>& pmesh);
+  };
+
+} // namespace geom
+} // namespace carla

LibCarla/source/carla/road/Deformation.h

@@ -20,10 +20,10 @@ namespace geom {
 namespace deformation {
   inline float GetZPosInDeformation(float posx, float posy){
     // Amplitud
-    const float A1 = 0.3f;
+    const float A1 = 0.6f;
-    const float A2 = 0.5f;
+    const float A2 = 1.1f;
     // Fases
-    const float F1 = 100.0;
+    const float F1 = 1000.0;
     const float F2 = -1500.0;
     // Modifiers
     const float Kx1 = 0.035f;
@@ -37,23 +37,23 @@ namespace deformation {
   }
 
   inline float GetBumpDeformation(float posx, float posy){
-    const float A3 = 0.15f;
+    const float A3 = 0.10f;
     float bumpsoffset = 0;
 
-    const float constraintX = 15.0f;
+    float constraintX = 17.0f;
-    const float constraintY = 15.0f;
+    float constraintY = 12.0f;
 
-    float BumpX = std::round(posx / constraintX);
+    float BumpX = std::ceil(posx / constraintX);
-    float BumpY = std::round(posy / constraintX);
+    float BumpY = std::floor(posy / constraintY);
 
     BumpX *= constraintX;
     BumpY *= constraintY;
 
     float DistanceToBumpOrigin = sqrt(pow(BumpX - posx, 2) + pow(BumpY - posy, 2) );
-    float MaxDistance = 2;
+    float MaxDistance = 2.0;
 
     if (DistanceToBumpOrigin <= MaxDistance) {
-      bumpsoffset = abs((1.0f / MaxDistance) * DistanceToBumpOrigin * DistanceToBumpOrigin - MaxDistance);
+      bumpsoffset = sin(DistanceToBumpOrigin);
     }
 
     return A3 * bumpsoffset;

LibCarla/source/carla/road/Map.cpp

@@ -20,7 +20,6 @@
 #include "carla/road/element/RoadInfoSpeed.h"
 #include "carla/road/element/RoadInfoSignal.h"
 
-#include "simplify/Simplify.h"
 #include "marchingcube/MeshReconstruction.h"
 
 #include <vector>
@@ -1145,9 +1144,8 @@ namespace road {
 
     std::thread juntction_thread( &Map::GenerateJunctions, this, mesh_factory, params, &junction_out_mesh_list);
 
-    float simplificationrate = params.simplification_percentage * 0.01f;
     size_t num_roads = _data.GetRoads().size();
-    size_t num_roads_per_thread = 100;
+    size_t num_roads_per_thread = 20;
     size_t num_threads = (num_roads / num_roads_per_thread) + 1;
     num_threads = num_threads > 1 ? num_threads : 1;
     std::vector<std::thread> workers;
@@ -1176,29 +1174,6 @@ namespace road {
       workers[i].join();
     }
     workers.clear();
-    for (auto& current_mesh_vector : road_out_mesh_list) {
-      if (current_mesh_vector.first != road::Lane::LaneType::Driving) {
-        continue;
-      }
-
-      size_t num_roads = current_mesh_vector.second.size();
-      size_t num_roads_per_thread = 15;
-      size_t num_threads = (num_roads / num_roads_per_thread) + 1;
-      num_threads = num_threads > 1 ? num_threads : 1;
-
-      for (size_t i = 0; i < num_threads; ++i) {
-        std::vector<geom::Mesh*> RoadsMesh;
-        for (std::unique_ptr<geom::Mesh>& current_mesh : current_mesh_vector.second) {
-          if(current_mesh) {
-            RoadsMesh.push_back( current_mesh.get() );
-          }
-        }
-
-        std::thread neworker( &Map::DeformateRoadsMultithreaded, this, RoadsMesh, i, num_roads_per_thread, simplificationrate );
-        workers.push_back( std::move(neworker) );
-      }
-    }
-
     for (size_t i = 0; i < workers.size(); ++i) {
       if (workers[i].joinable()) {
         workers[i].join();
@@ -1221,6 +1196,45 @@ namespace road {
 
     return road_out_mesh_list;
   }
+  std::vector<std::pair<geom::Transform, std::string>> Map::GetTreesTransform(
+    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;
+      if (!road.IsJunction()) {
+        for (auto &&lane_section : road.GetLaneSections()) {
+          LaneId min_lane = 0;
+          for (auto &pairlane : lane_section.GetLanes()) {
+            if (min_lane > pairlane.first && pairlane.second.GetType() == Lane::LaneType::Driving) {
+              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()));
+              s_current += distancebetweentrees;
+            }
+
+          }
+        }
+      }
+    }
+    return transforms;
+  }
 
   geom::Mesh Map::GetAllCrosswalkMesh() const {
     geom::Mesh out_mesh;
@@ -1259,7 +1273,9 @@ namespace road {
   }
 
   /// Buids a list of meshes related with LineMarkings
-  std::vector<std::unique_ptr<geom::Mesh>> Map::GenerateLineMarkings( const rpc::OpendriveGenerationParameters& params ) const
+  std::vector<std::unique_ptr<geom::Mesh>> Map::GenerateLineMarkings(
+    const rpc::OpendriveGenerationParameters& params,
+    std::vector<std::string>& outinfo ) const
   {
     std::vector<std::unique_ptr<geom::Mesh>> LineMarks;
     geom::MeshFactory mesh_factory(params);
@@ -1267,18 +1283,9 @@ namespace road {
       if ( pair.second.IsJunction() ) {
         continue;
       }
-      mesh_factory.GenerateLaneMarkForRoad(pair.second, LineMarks);
+      mesh_factory.GenerateLaneMarkForRoad(pair.second, LineMarks, outinfo);
     }
 
-    for (auto& Mesh : LineMarks) {
-      if (!Mesh->IsValid()) {
-        continue;
-      }
-
-      for (carla::geom::Vector3D& current_vertex : Mesh->GetVertices()) {
-        current_vertex.z = GetZPosInDeformation(current_vertex.x, current_vertex.y) + 0.01;
-      }
-    }
     return std::move(LineMarks);
   }
 
@@ -1294,39 +1301,6 @@ namespace road {
     return returning;
   }
 
-   std::vector<std::pair<geom::Vector3D, std::string>> Map::GetTreesPosition(
-    float distancebetweentrees,
-    float distancefromdrivinglineborder) const {
-
-    std::vector<std::pair<geom::Vector3D, std::string>> positions;
-    for (auto &&pair : _data.GetRoads()) {
-      const auto &road = pair.second;
-      if (!road.IsJunction()) {
-        for (auto &&lane_section : road.GetLaneSections()) {
-          const auto min_lane = lane_section.GetLanes().begin()->first == 0 ?
-            1 : lane_section.GetLanes().begin()->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();
-            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;
-              const carla::road::element::RoadInfoSpeed* roadinfo = lane->GetInfo<carla::road::element::RoadInfoSpeed>(s_current);
-              positions.push_back(std::make_pair(treeposition,roadinfo->GetType()));
-              s_current += distancebetweentrees;
-            }
-
-          }
-        }
-      }
-    }
-    return positions;
-  }
-
   inline float Map::GetZPosInDeformation(float posx, float posy) const {
     return geom::deformation::GetZPosInDeformation(posx, posy) +
       geom::deformation::GetBumpDeformation(posx,posy);
@@ -1359,7 +1333,6 @@ namespace road {
     std::map<road::Lane::LaneType,
     std::vector<std::unique_ptr<geom::Mesh>>>* junction_out_mesh_list) const {
 
-    float simplificationrate = params.simplification_percentage * 0.01f;
     for (const auto& junc_pair : _data.GetJunctions()) {
       const auto& junction = junc_pair.second;
       if (junction.GetConnections().size() > 2) {
@@ -1368,46 +1341,6 @@ namespace road {
         std::vector<carla::geom::Vector3D> perimeterpoints;
 
         auto pmesh = SDFToMesh(junction, perimeterpoints, 75);
-        Simplify::SimplificationObject Simplification;
-        for (carla::geom::Vector3D& current_vertex : pmesh->GetVertices()) {
-          Simplify::Vertex v;
-          v.p.x = current_vertex.x;
-          v.p.y = current_vertex.y;
-          v.p.z = GetZPosInDeformation(current_vertex.x, current_vertex.y);
-          Simplification.vertices.push_back(v);
-        }
-
-        for (size_t i = 0; i < pmesh->GetIndexes().size() - 2; i += 3) {
-          Simplify::Triangle t;
-          t.material = 0;
-          auto indices = pmesh->GetIndexes();
-          t.v[0] = (indices[i]) - 1;
-          t.v[1] = (indices[i + 1]) - 1;
-          t.v[2] = (indices[i + 2]) - 1;
-          Simplification.triangles.push_back(t);
-        }
-
-        // Reduce to the X% of the polys
-        float target_size = Simplification.triangles.size();
-        Simplification.simplify_mesh((target_size * simplificationrate));
-
-        pmesh->GetVertices().clear();
-        pmesh->GetIndexes().clear();
-
-        for (Simplify::Vertex& current_vertex : Simplification.vertices) {
-          carla::geom::Vector3D v;
-          v.x = current_vertex.p.x;
-          v.y = current_vertex.p.y;
-          v.z = current_vertex.p.z;
-          pmesh->AddVertex(v);
-        }
-
-        for (size_t i = 0; i < Simplification.triangles.size(); ++i) {
-          pmesh->GetIndexes().push_back((Simplification.triangles[i].v[0]) + 1);
-          pmesh->GetIndexes().push_back((Simplification.triangles[i].v[1]) + 1);
-          pmesh->GetIndexes().push_back((Simplification.triangles[i].v[2]) + 1);
-        }
-
         (*junction_out_mesh_list)[road::Lane::LaneType::Driving].push_back(std::move(pmesh));
 
         for (const auto& connection_pair : junction.GetConnections()) {
@@ -1449,9 +1382,6 @@ namespace road {
         for (auto& lane : lane_meshes) {
           *merged_mesh += *lane;
         }
-        for (carla::geom::Vector3D& current_vertex : merged_mesh->GetVertices()) {
-          current_vertex.z = GetZPosInDeformation(current_vertex.x, current_vertex.y);
-        }
         std::unique_ptr<geom::Mesh> sidewalk_mesh = std::make_unique<geom::Mesh>();
         for (auto& lane : sidewalk_lane_meshes) {
           *sidewalk_mesh += *lane;
@@ -1463,72 +1393,12 @@ namespace road {
     }
   }
 
-  void Map::DeformateRoadsMultithreaded(const std::vector<geom::Mesh*>& roadsmesh,
-      const size_t index, const size_t number_of_roads_per_thread, const float simplificationrate) const
-  {
-    auto start = std::next( roadsmesh.begin(), ( index ) * number_of_roads_per_thread);
-    size_t endoffset = (index+1) * number_of_roads_per_thread;
-    if( endoffset >= roadsmesh.size() ) {
-      endoffset = roadsmesh.size();
-    }
-    auto end = std::next( roadsmesh.begin(), endoffset );
-    for ( auto it = start; it != end  && it != roadsmesh.end(); ++it ) {
-      geom::Mesh* current_mesh = *it;
-      if( current_mesh == nullptr ) {
-        continue;
-      }
-
-      if ( !current_mesh->IsValid() ) {
-        continue;
-      }
-      Simplify::SimplificationObject Simplification;
-      for (carla::geom::Vector3D& current_vertex : current_mesh->GetVertices()) {
-        Simplify::Vertex v;
-        v.p.x = current_vertex.x;
-        v.p.y = current_vertex.y;
-        v.p.z = GetZPosInDeformation(current_vertex.x, current_vertex.y);
-        Simplification.vertices.push_back(v);
-      }
-
-
-      for (size_t i = 0; i < current_mesh->GetIndexes().size() - 2; i += 3) {
-        Simplify::Triangle t;
-        t.material = 0;
-        auto indices = current_mesh->GetIndexes();
-        t.v[0] = (indices[i]) - 1;
-        t.v[1] = (indices[i + 1]) - 1;
-        t.v[2] = (indices[i + 2]) - 1;
-        Simplification.triangles.push_back(t);
-      }
-
-      // Reduce to the X% of the polys
-      float target_size = Simplification.triangles.size();
-      Simplification.simplify_mesh((target_size * simplificationrate));
-
-      current_mesh->GetVertices().clear();
-      current_mesh->GetIndexes().clear();
-      for (Simplify::Vertex& current_vertex : Simplification.vertices) {
-        carla::geom::Vector3D v;
-        v.x = current_vertex.p.x;
-        v.y = current_vertex.p.y;
-        v.z = current_vertex.p.z;
-        current_mesh->AddVertex(v);
-      }
-
-      for (size_t i = 0; i < Simplification.triangles.size(); ++i) {
-        current_mesh->GetIndexes().push_back((Simplification.triangles[i].v[0]) + 1);
-        current_mesh->GetIndexes().push_back((Simplification.triangles[i].v[1]) + 1);
-        current_mesh->GetIndexes().push_back((Simplification.triangles[i].v[2]) + 1);
-      }
-    }
-  }
-
   std::unique_ptr<geom::Mesh> Map::SDFToMesh(const road::Junction& jinput,
     const std::vector<geom::Vector3D>& sdfinput,
     int grid_cells_per_dim) const {
 
     int junctionid = jinput.GetId();
-    float box_extraextension_factor = 1.5f;
+    float box_extraextension_factor = 1.2f;
     const double CubeSize = 0.5;
     carla::geom::BoundingBox bb = jinput.GetBoundingBox();
     carla::geom::Vector3D MinOffset = bb.location - geom::Location(bb.extent * box_extraextension_factor);
@@ -1539,7 +1409,6 @@ namespace road {
     {
       geom::Vector3D worldloc(pos.x, pos.y, pos.z);
       boost::optional<element::Waypoint> CheckingWaypoint = GetWaypoint(geom::Location(worldloc), 0x1 << 1);
-
       if (CheckingWaypoint) {
         if ( pos.z < 0.2) {
           return 0.0;
@@ -1547,7 +1416,6 @@ namespace road {
           return -abs(pos.z);
         }
       }
-
       boost::optional<element::Waypoint> InRoadWaypoint = GetClosestWaypointOnRoad(geom::Location(worldloc), 0x1 << 1);
       geom::Transform InRoadWPTransform = ComputeTransform(*InRoadWaypoint);
 

LibCarla/source/carla/road/Map.h

@@ -166,14 +166,17 @@ namespace road {
     /// Buids a mesh of all crosswalks based on the OpenDRIVE
     geom::Mesh GetAllCrosswalkMesh() const;
 
-    std::vector<std::pair<geom::Vector3D, std::string>> GetTreesPosition(
+    std::vector<std::pair<geom::Transform, std::string>> GetTreesTransform(
       float distancebetweentrees,
-      float distancefromdrivinglineborder) const;
+      float distancefromdrivinglineborder,
+      float s_offset = 0) const;
 
     geom::Mesh GenerateWalls(const double distance, const float wall_height) const;
 
     /// Buids a list of meshes related with LineMarkings
-    std::vector<std::unique_ptr<geom::Mesh>> GenerateLineMarkings( const rpc::OpendriveGenerationParameters& params ) const;
+    std::vector<std::unique_ptr<geom::Mesh>> GenerateLineMarkings(
+      const rpc::OpendriveGenerationParameters& params,
+      std::vector<std::string>& outinfo ) const;
 
     const std::unordered_map<SignId, std::unique_ptr<Signal>>& GetSignals() const {
       return _data.GetSignals();
@@ -227,9 +230,6 @@ public:
       std::map<road::Lane::LaneType, std::vector<std::unique_ptr<geom::Mesh>>>*
       juntion_out_mesh_list) const;
 
-    void DeformateRoadsMultithreaded(const std::vector<geom::Mesh*>& roadsmesh, const size_t index,
-      const size_t number_of_roads_per_thread, const float simplificationrate) const;
-
     std::unique_ptr<geom::Mesh> SDFToMesh(const road::Junction& jinput, const std::vector<geom::Vector3D>& sdfinput, int grid_cells_per_dim) const;
 
   };

LibCarla/source/carla/road/MeshFactory.cpp

@@ -128,17 +128,23 @@ namespace geom {
     const int vertices_in_width = road_param.vertex_width_resolution >= 2 ? road_param.vertex_width_resolution : 2;
     const int segments_number = vertices_in_width - 1;
 
+    std::vector<geom::Vector2D> uvs;
+    int uvx = 0;
+    int uvy = 0;
     // Iterate over the lane's 's' and store the vertices based on it's width
     do {
       // Get the location of the edges of the current lane at the current waypoint
       std::pair<geom::Vector3D, geom::Vector3D> edges = lane.GetCornerPositions(s_current, road_param.extra_lane_width);
       const geom::Vector3D segments_size = ( edges.second - edges.first ) / segments_number;
       geom::Vector3D current_vertex = edges.first;
-
+      uvx = 0;
       for (int i = 0; i < vertices_in_width; ++i) {
+        uvs.push_back(geom::Vector2D(uvx, uvy));
         vertices.push_back(current_vertex);
         current_vertex = current_vertex + segments_size;
+        uvx++;
       }
+      uvy++;
       // Update the current waypoint's "s"
       s_current += road_param.resolution;
     } while (s_current < s_end);
@@ -151,14 +157,17 @@ namespace geom {
         lane.GetCornerPositions(s_end - MESH_EPSILON, road_param.extra_lane_width);
       const geom::Vector3D segments_size = (edges.second - edges.first) / segments_number;
       geom::Vector3D current_vertex = edges.first;
-
+      uvx = 0;
       for (int i = 0; i < vertices_in_width; ++i)
       {
+        uvs.push_back(geom::Vector2D(uvx, uvy));
         vertices.push_back(current_vertex);
         current_vertex = current_vertex + segments_size;
+        uvx++;
       }
     }
     out_mesh.AddVertices(vertices);
+    out_mesh.AddUVs(uvs);
 
     // Add the adient material, create the strip and close the material
     out_mesh.AddMaterial(
@@ -194,7 +203,6 @@ namespace geom {
         redirections.push_back(lane_pair.first);
         it = std::find(redirections.begin(), redirections.end(), lane_pair.first);
       }
-
       size_t PosToAdd = it - redirections.begin();
 
       Mesh out_mesh;
@@ -211,7 +219,7 @@ namespace geom {
         if(lane_pair.second.GetType() == road::Lane::LaneType::Driving) {
           verticesinwidth = vertices_in_width;
         }else if(lane_pair.second.GetType() == road::Lane::LaneType::Sidewalk){
-          verticesinwidth = 4;
+          verticesinwidth = 6;
         }else{
           verticesinwidth = 2;
         }
@@ -253,25 +261,40 @@ namespace geom {
 
     std::vector<geom::Vector3D> vertices;
     // Ensure minimum vertices in width are two
-    const int vertices_in_width = 4;
+    const int vertices_in_width = 6;
     const int segments_number = vertices_in_width - 1;
+    std::vector<geom::Vector2D> uvs;
+    int uvy = 0;
 
     // Iterate over the lane's 's' and store the vertices based on it's width
     do {
       // Get the location of the edges of the current lane at the current waypoint
       std::pair<geom::Vector3D, geom::Vector3D> edges =
         lane.GetCornerPositions(s_current, road_param.extra_lane_width);
-      edges.first.z += deformation::GetZPosInDeformation(edges.first.x, edges.first.y);
+
-      edges.second.z += deformation::GetZPosInDeformation(edges.second.x, edges.second.y);
       geom::Vector3D low_vertex_first = edges.first - geom::Vector3D(0,0,1);
       geom::Vector3D low_vertex_second = edges.second - geom::Vector3D(0,0,1);
       vertices.push_back(low_vertex_first);
+      uvs.push_back(geom::Vector2D(0, uvy));
+
       vertices.push_back(edges.first);
+      uvs.push_back(geom::Vector2D(1, uvy));
+
+      vertices.push_back(edges.first);
+      uvs.push_back(geom::Vector2D(1, uvy));
+
       vertices.push_back(edges.second);
+      uvs.push_back(geom::Vector2D(2, uvy));
+
+      vertices.push_back(edges.second);
+      uvs.push_back(geom::Vector2D(2, uvy));
+
       vertices.push_back(low_vertex_second);
+      uvs.push_back(geom::Vector2D(3, uvy));
 
       // Update the current waypoint's "s"
       s_current += road_param.resolution;
+      uvy++;
     } while (s_current < s_end);
 
     // This ensures the mesh is constant and have no gaps between roads,
@@ -281,17 +304,31 @@ namespace geom {
       std::pair<carla::geom::Vector3D, carla::geom::Vector3D> edges =
         lane.GetCornerPositions(s_end - MESH_EPSILON, road_param.extra_lane_width);
 
-      edges.first.z += deformation::GetZPosInDeformation(edges.first.x, edges.first.y);
-      edges.second.z += deformation::GetZPosInDeformation(edges.second.x, edges.second.y);
       geom::Vector3D low_vertex_first = edges.first - geom::Vector3D(0,0,1);
       geom::Vector3D low_vertex_second = edges.second - geom::Vector3D(0,0,1);
-      vertices.push_back(low_vertex_first);
-      vertices.push_back(edges.first);
-      vertices.push_back(edges.second);
-      vertices.push_back(low_vertex_second);
-    }
-    out_mesh.AddVertices(vertices);
 
+      vertices.push_back(low_vertex_first);
+      uvs.push_back(geom::Vector2D(0, uvy));
+
+      vertices.push_back(edges.first);
+      uvs.push_back(geom::Vector2D(1, uvy));
+
+      vertices.push_back(edges.first);
+      uvs.push_back(geom::Vector2D(1, uvy));
+
+      vertices.push_back(edges.second);
+      uvs.push_back(geom::Vector2D(2, uvy));
+
+      vertices.push_back(edges.second);
+      uvs.push_back(geom::Vector2D(2, uvy));
+
+      vertices.push_back(low_vertex_second);
+      uvs.push_back(geom::Vector2D(3, uvy));
+
+    }
+
+    out_mesh.AddVertices(vertices);
+    out_mesh.AddUVs(uvs);
     // Add the adient material, create the strip and close the material
     out_mesh.AddMaterial(
       lane.GetType() == road::Lane::LaneType::Sidewalk ? "sidewalk" : "road");
@@ -300,6 +337,11 @@ namespace geom {
 
     for (size_t i = 0; i < (number_of_rows - 1); ++i) {
       for (size_t j = 0; j < vertices_in_width - 1; ++j) {
+
+        if(j == 1 || j == 3){
+          continue;
+        }
+
         out_mesh.AddIndex(   j       + (   i       * vertices_in_width ) + 1);
         out_mesh.AddIndex( ( j + 1 ) + (   i       * vertices_in_width ) + 1);
         out_mesh.AddIndex(   j       + ( ( i + 1 ) * vertices_in_width ) + 1);
@@ -307,6 +349,7 @@ namespace geom {
         out_mesh.AddIndex( ( j + 1 ) + (   i       * vertices_in_width ) + 1);
         out_mesh.AddIndex( ( j + 1 ) + ( ( i + 1 ) * vertices_in_width ) + 1);
         out_mesh.AddIndex(   j       + ( ( i + 1 ) * vertices_in_width ) + 1);
+
       }
     }
     out_mesh.EndMaterial();
@@ -525,7 +568,7 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
               if(lane_pair.second.GetType() == road::Lane::LaneType::Driving) {
                 verticesinwidth = vertices_in_width;
               }else if(lane_pair.second.GetType() == road::Lane::LaneType::Sidewalk){
-                verticesinwidth = 4;
+                verticesinwidth = 6;
               }else{
                 verticesinwidth = 2;
               }
@@ -558,11 +601,11 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
               if(lane_pair.second.GetType() == road::Lane::LaneType::Driving) {
                 verticesinwidth = vertices_in_width;
               }else if(lane_pair.second.GetType() == road::Lane::LaneType::Sidewalk){
-                verticesinwidth = 4;
+                verticesinwidth = 6;
               }else{
                 verticesinwidth = 2;
               }
-              (mesh_uptr_list[lane_pair.second.GetType()][PosToAdd])->ConcatMesh(lane_section_mesh, verticesinwidth);
+              *(mesh_uptr_list[lane_pair.second.GetType()][PosToAdd]) += lane_section_mesh;
             }
           }
         }
@@ -675,16 +718,22 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
   }
 
   void MeshFactory::GenerateLaneMarkForRoad(
-    const road::Road& road, std::vector<std::unique_ptr<Mesh>>& inout) const
+    const road::Road& road,
+    std::vector<std::unique_ptr<Mesh>>& inout,
+    std::vector<std::string>& outinfo ) const
   {
     for (auto&& lane_section : road.GetLaneSections()) {
       for (auto&& lane : lane_section.GetLanes()) {
         if (lane.first != 0) {
           if(lane.second.GetType() == road::Lane::LaneType::Driving ){
-            GenerateLaneMarksForNotCenterLine(lane_section, lane.second, inout);
+            GenerateLaneMarksForNotCenterLine(lane_section, lane.second, inout, outinfo);
+            outinfo.push_back("white");
           }
         } else {
-          GenerateLaneMarksForCenterLine(road, lane_section, lane.second, inout);
+          if(lane.second.GetType() == road::Lane::LaneType::None ){
+            GenerateLaneMarksForCenterLine(road, lane_section, lane.second, inout, outinfo);
+            outinfo.push_back("yellow");
+          }
         }
       }
     }
@@ -693,8 +742,8 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
   void MeshFactory::GenerateLaneMarksForNotCenterLine(
     const road::LaneSection& lane_section,
     const road::Lane& lane,
-    std::vector<std::unique_ptr<Mesh>>& inout) const {
+    std::vector<std::unique_ptr<Mesh>>& inout,
-
+    std::vector<std::string>& outinfo ) const {
     Mesh out_mesh;
     const double s_start = lane_section.GetDistance();
     const double s_end = lane_section.GetDistance() + lane_section.GetLength();
@@ -831,7 +880,8 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
     const road::Road& road,
     const road::LaneSection& lane_section,
     const road::Lane& lane,
-    std::vector<std::unique_ptr<Mesh>>& inout) const
+    std::vector<std::unique_ptr<Mesh>>& inout,
+    std::vector<std::string>& outinfo ) const
   {
     Mesh out_mesh;
     const double s_start = lane_section.GetDistance();
@@ -970,6 +1020,7 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
 
         out_mesh.AddVertex(rightpoint.location);
         out_mesh.AddVertex(leftpoint.location);
+
       }
       inout.push_back(std::make_unique<Mesh>(out_mesh));
     }

LibCarla/source/carla/road/MeshFactory.h

@@ -111,21 +111,24 @@ namespace geom {
     std::unique_ptr<Mesh> MergeAndSmooth(std::vector<std::unique_ptr<Mesh>> &lane_meshes) const;
 
     // -- LaneMarks --
-
+    void GenerateLaneMarkForRoad(const road::Road& road,
-    void GenerateLaneMarkForRoad(const road::Road& road, std::vector<std::unique_ptr<Mesh>>& inout) const;
+      std::vector<std::unique_ptr<Mesh>>& inout,
+      std::vector<std::string>& outinfo ) const;
 
     // Generate for NOT center line AKA All lines but the one which id 0
     void GenerateLaneMarksForNotCenterLine(
       const road::LaneSection& lane_section,
       const road::Lane& lane,
-      std::vector<std::unique_ptr<Mesh>>& inout) const;
+      std::vector<std::unique_ptr<Mesh>>& inout,
+      std::vector<std::string>& outinfo ) const;
 
     // Generate marks ONLY for line with ID 0
     void GenerateLaneMarksForCenterLine(
       const road::Road& road,
       const road::LaneSection& lane_section,
       const road::Lane& lane,
-      std::vector<std::unique_ptr<Mesh>>& inout) const;
+      std::vector<std::unique_ptr<Mesh>>& inout,
+      std::vector<std::string>& outinfo ) const;
     // =========================================================================
     // -- Generation parameters ------------------------------------------------
     // =========================================================================

LibCarla/source/carla/road/element/LaneMarking.h

@@ -7,6 +7,7 @@
 #pragma once
 
 #include <cstdint>
+#include <string>
 
 namespace carla {
 namespace road {
@@ -62,6 +63,21 @@ namespace element {
     LaneChange lane_change = LaneChange::None;
 
     double width = 0.0;
+
+    std::string GetColorInfoAsString(){
+      switch(color){
+        case Color::Yellow:
+          return std::string("yellow");
+          break;
+        case Color::Standard:
+          return std::string("white");
+          break;
+        default:
+          return std::string("white");
+          break;
+      }
+      return std::string("white");
+    }
   };
 
 } // namespace element

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

@@ -145,9 +145,9 @@ public:
   FTransform LocalToGlobalTransform(const FTransform& InTransform) const;
   FVector LocalToGlobalLocation(const FVector& InLocation) const;
 
-  UPROPERTY(EditAnywhere, Category = "Large Map Manager")
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Large Map Manager")
   FString LargeMapTilePath = "/Game/Carla/Maps/testmap";
-  UPROPERTY(EditAnywhere, Category = "Large Map Manager")
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Large Map Manager")
   FString LargeMapName = "testmap";
 
   void SetTile0Offset(const FVector& Offset);
@@ -285,32 +285,32 @@ protected:
 
   FDVector CurrentOriginD;
 
-  UPROPERTY(EditAnywhere, Category = "Large Map Manager")
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Large Map Manager")
   FVector Tile0Offset = FVector(0,0,0);
 
-  UPROPERTY(EditAnywhere, Category = "Large Map Manager")
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Large Map Manager")
   float TickInterval = 0.0f;
 
-  UPROPERTY(EditAnywhere, Category = "Large Map Manager")
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Large Map Manager")
   float LayerStreamingDistance = 3.0f * 1000.0f * 100.0f;
 
-  UPROPERTY(EditAnywhere, Category = "Large Map Manager")
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Large Map Manager")
   float ActorStreamingDistance = 2.0f * 1000.0f * 100.0f;
 
-  UPROPERTY(EditAnywhere, Category = "Large Map Manager")
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Large Map Manager")
   float RebaseOriginDistance = 2.0f * 1000.0f * 100.0f;
 
   float LayerStreamingDistanceSquared = LayerStreamingDistance * LayerStreamingDistance;
   float ActorStreamingDistanceSquared = ActorStreamingDistance * ActorStreamingDistance;
   float RebaseOriginDistanceSquared = RebaseOriginDistance * RebaseOriginDistance;
 
-  UPROPERTY(EditAnywhere, Category = "Large Map Manager")
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Large Map Manager")
   float TileSide = 2.0f * 1000.0f * 100.0f; // 2km
 
-  UPROPERTY(EditAnywhere, Category = "Large Map Manager")
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Large Map Manager")
   FVector LocalTileOffset = FVector(0,0,0);
 
-  UPROPERTY(EditAnywhere, Category = "Large Map Manager")
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Large Map Manager")
   bool ShouldTilesBlockOnLoad = false;
 
 
@@ -324,7 +324,7 @@ protected:
 
   void PrintMapInfo();
 
-  UPROPERTY(EditAnywhere, Category = "Large Map Manager")
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Large Map Manager")
   FString AssetsPath = "";
 
   FString BaseTileMapPath = "/Game/Carla/Maps/LargeMap/EmptyTileBase";

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

@@ -17,11 +17,14 @@ void UHoudiniImporterWidget::CreateSubLevels(ALargeMapManager* LargeMapManager)
 
 }
 
-void UHoudiniImporterWidget::MoveActorsToSubLevel(TArray<AActor*> Actors, ALargeMapManager* LargeMapManager)
+void UHoudiniImporterWidget::MoveActorsToSubLevelWithLargeMap(TArray<AActor*> Actors, ALargeMapManager* LargeMapManager)
 {
   TMap<FCarlaMapTile*, TArray<AActor*>> ActorsToMove;
   for (AActor* Actor : Actors)
   {
+    if (Actor == nullptr) {
+      continue;
+    }
     UHierarchicalInstancedStaticMeshComponent* Component
         = Cast<UHierarchicalInstancedStaticMeshComponent>(
           Actor->GetComponentByClass(
@@ -77,7 +80,6 @@ void UHoudiniImporterWidget::MoveActorsToSubLevel(TArray<AActor*> Actors, ALarge
     ULevelStreaming* Level = 
         UEditorLevelUtils::AddLevelToWorld(
         World, *Tile->Name, ULevelStreamingDynamic::StaticClass(), FTransform());
-
     int MovedActors = UEditorLevelUtils::MoveActorsToLevel(ActorList, Level, false, false);
     // StreamingLevel->SetShouldBeLoaded(false);
     UE_LOG(LogCarlaTools, Log, TEXT("Moved %d actors"), MovedActors);
@@ -86,6 +88,15 @@ void UHoudiniImporterWidget::MoveActorsToSubLevel(TArray<AActor*> Actors, ALarge
   }
 }
 
+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());
+}
+
 void UHoudiniImporterWidget::UpdateGenericActorCoordinates(
     AActor* Actor, FVector TileOrigin)
 {

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

@@ -8,7 +8,6 @@
 #endif
 
 #include "GenericPlatform/GenericPlatformMath.h"
-//#include "GenericPlatform/GenericPlatformProcess.h"
 #include "GenericPlatform/GenericPlatformFile.h"
 
 #include "Sockets.h"
@@ -33,10 +32,12 @@
 #include "Misc/Paths.h"
 
 
-
+namespace Asio = boost::asio;
-
+using AsioStreamBuf = boost::asio::streambuf;
-
+using AsioTCP = boost::asio::ip::tcp;
-//#include "Unix/UnixPlatformProcess.h"
+using AsioSocket = boost::asio::ip::tcp::socket;
+using AsioAcceptor = boost::asio::ip::tcp::acceptor;
+using AsioEndpoint = boost::asio::ip::tcp::endpoint;
 
 void UMapPreviewUserWidget::CreateTexture()
 {
@@ -49,17 +50,10 @@ void UMapPreviewUserWidget::CreateTexture()
 
 void UMapPreviewUserWidget::ConnectToSocket(FString DatabasePath, FString StylesheetPath, int Size)
 {
-  //FSocket* Socket = FSocket::CreateTCPConnection(nullptr, TEXT("OSMRendererSocket"));
+  const unsigned int PORT = 5000;
-  Socket = FTcpSocketBuilder(TEXT("OSMRendererSocket")).AsReusable();
+  SocketPtr = std::make_unique<AsioSocket>(io_service);
-  FIPv4Address RemoteAddress;
+  SocketPtr->connect(AsioEndpoint(AsioTCP::v4(), PORT));
-  FIPv4Address::Parse(FIPv4Address::InternalLoopback.ToString(), RemoteAddress);
+  if(!SocketPtr->is_open())
-  TSharedRef<FInternetAddr> RemoteAddr = ISocketSubsystem::Get(PLATFORM_SOCKETSUBSYSTEM)->CreateInternetAddr();
-  RemoteAddr->SetIp(RemoteAddress.Value);
-  RemoteAddr->SetPort(5000);
-
-  // Connect to the remote server
-  bool Connected = Socket->Connect(*RemoteAddr);
-  if (!Connected)
   {
     UE_LOG(LogTemp, Error, TEXT("Error connecting to remote server"));
     return;
@@ -73,32 +67,28 @@ void UMapPreviewUserWidget::ConnectToSocket(FString DatabasePath, FString Styles
 
 void UMapPreviewUserWidget::RenderMap(FString Latitude, FString Longitude, FString Zoom)
 {
- FString Message = "-R " + Latitude + " " + Longitude + " " + Zoom;
+  FString Message = "-R " + Latitude + " " + Longitude + " " + Zoom;
-  //FString Message = "-R 40.415 -3.702 100000";
   SendStr(Message);
 
   TArray<uint8_t> ReceivedData;
-  uint32 ReceivedDataSize;
+  uint32 ReceivedDataSize = 0;
   
-  if(Socket->Wait(ESocketWaitConditions::WaitForRead, FTimespan::FromSeconds(5)))
   {
-    while(Socket->HasPendingData(ReceivedDataSize))
+    SocketPtr->wait(boost::asio::ip::tcp::socket::wait_read);
+    while (SocketPtr->available())
     {
-      int32 BytesReceived = 0;
+      AsioStreamBuf Buffer;
+      std::size_t BytesReceived = 
+        Asio::read(*SocketPtr, Buffer, Asio::transfer_at_least(2));
       TArray<uint8_t> ThisReceivedData;
-      ThisReceivedData.Init(0, FMath::Min(ReceivedDataSize, uint32(512*512*4)));
+      const char* DataPtr = Asio::buffer_cast<const char*>(Buffer.data());
-      bool bRecv = Socket->Recv(ThisReceivedData.GetData(), ThisReceivedData.Num(), BytesReceived);
+      for (std::size_t i = 0; i < Buffer.size(); ++i)
-      if (!bRecv)
       {
-        UE_LOG(LogTemp, Error, TEXT("Error receiving message"));
+        ThisReceivedData.Add(DataPtr[i]);
-      }
-      else
-      {
-        UE_LOG(LogTemp, Log, TEXT("Received %d bytes. %d"), BytesReceived, ReceivedDataSize);
-        ReceivedData.Append(ThisReceivedData);
-        UE_LOG(LogTemp, Log, TEXT("Size of Data: %d"), ReceivedData.Num());
       }
+      ReceivedData.Append(ThisReceivedData);
     }
+    UE_LOG(LogTemp, Log, TEXT("Size of Data: %d"), ReceivedData.Num());
 
     // TODO: Move to function
     if(ReceivedData.Num() > 0)
@@ -127,44 +117,26 @@ void UMapPreviewUserWidget::RenderMap(FString Latitude, FString Longitude, FStri
 FString UMapPreviewUserWidget::RecvCornersLatLonCoords()
 {
   SendStr("-L");
-  uint8 TempBuffer[40];
-  int32 BytesReceived = 0;
-  if(Socket->Wait(ESocketWaitConditions::WaitForRead, FTimespan::FromSeconds(5)))
-  {
-    bool bRecv = Socket->Recv(TempBuffer, 40, BytesReceived);
-    if(!bRecv)
-    {
-      UE_LOG(LogTemp, Error, TEXT("Error receiving LatLon message"));
-      return "";
-    }
 
-    FString CoordStr = FString(UTF8_TO_TCHAR((char*)TempBuffer));
+  AsioStreamBuf Buffer;
-    return CoordStr;
+  std::size_t BytesReceived = 
-  }
+      Asio::read(*SocketPtr, Buffer, Asio::transfer_at_least(2));
-  return "";
+  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;
 }
 
 void UMapPreviewUserWidget::Shutdown()
 {
   // Close the socket
-  Socket->Close();
+  SocketPtr->close();
 }
 
 void UMapPreviewUserWidget::OpenServer()
 {
-  
+  // Todo: automatically spawn the osm renderer process
-  /*FPlatformProcess::CreateProc(
-      TEXT("/home/adas/carla/osm-world-renderer/build/osm-world-renderer"), 
-      nullptr,  // Args
-      true,     // if true process will have its own window
-      false,     // if true it will be minimized
-      false,    // if true it will be hidden in task bar
-      nullptr,  // filled with PID
-      0,        // priority
-      nullptr,  // directory to place after running the program
-      nullptr   // redirection pipe
-  );*/
-
 }
 
 void UMapPreviewUserWidget::CloseServer()
@@ -174,24 +146,33 @@ void UMapPreviewUserWidget::CloseServer()
 
 bool UMapPreviewUserWidget::SendStr(FString Msg)
 {
-  if(!Socket)
+  if(!SocketPtr)
   {
     UE_LOG(LogTemp, Error, TEXT("Error. No socket."));
     return false;
   }
 
   std::string MessageStr = std::string(TCHAR_TO_UTF8(*Msg));
-  int32 BytesSent = 0;
+  std::size_t BytesSent = 0;
-  bool bSent = Socket->Send((uint8*)MessageStr.c_str(), MessageStr.size(), BytesSent);
+  try
-  if (!bSent)
   {
-    UE_LOG(LogTemp, Error, TEXT("Error sending message"));
+    BytesSent = Asio::write(*SocketPtr, Asio::buffer(MessageStr));
+  }
+  catch (const boost::system::system_error& e)
+  {
+    FString ErrorMessage = e.what();
+    UE_LOG(LogTemp, Error, TEXT("Error sending message: %s"), *ErrorMessage);
+  }
+  if (BytesSent != MessageStr.size())
+  {
+    UE_LOG(LogTemp, Error, TEXT("Error sending message: num bytes mismatch"));
+    return true;
   }
   else
   {
     UE_LOG(LogTemp, Log, TEXT("Sent %d bytes"), BytesSent);
+    return false;
   }
-  return bSent;
 }
 
 void UMapPreviewUserWidget::UpdateLatLonCoordProperties()

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

@@ -5,7 +5,11 @@
 #include "DesktopPlatform/Public/IDesktopPlatform.h"
 #include "DesktopPlatform/Public/DesktopPlatformModule.h"
 #include "Misc/FileHelper.h"
+#include "Engine/LevelBounds.h"
+#include "Engine/SceneCapture2D.h"
 #include "Runtime/Core/Public/Async/ParallelFor.h"
+#include "Kismet/KismetRenderingLibrary.h"
+#include "KismetProceduralMeshLibrary.h"
 
 #include "Carla/Game/CarlaStatics.h"
 #include "Traffic/TrafficLightManager.h"
@@ -17,6 +21,8 @@
 #include <compiler/disable-ue4-macros.h>
 #include <carla/opendrive/OpenDriveParser.h>
 #include <carla/road/Map.h>
+#include <carla/geom/Simplification.h>
+#include <carla/road/Deformation.h>
 #include <carla/rpc/String.h>
 #include <OSM2ODR.h>
 #include <compiler/enable-ue4-macros.h>
@@ -32,9 +38,13 @@
 #include "MeshDescription.h"
 #include "EditorLevelLibrary.h"
 #include "ProceduralMeshConversion.h"
+
 #include "ContentBrowserModule.h"
 #include "Materials/MaterialInstanceConstant.h"
 #include "Math/Vector.h"
+#include "GameFramework/Actor.h"
+
+#include "DrawDebugHelpers.h"
 
 FString LaneTypeToFString(carla::road::Lane::LaneType LaneType)
 {
@@ -141,6 +151,112 @@ void UOpenDriveToMap::CreateMap()
   ActorMeshList.Empty();
 }
 
+void UOpenDriveToMap::CreateTerrain( const int MeshGridSize, const float MeshGridSectionSize, const class UTexture2D* HeightmapTexture)
+{
+  TArray<AActor*> FoundActors;
+  UGameplayStatics::GetAllActorsOfClass(GetWorld(), AProceduralMeshActor::StaticClass(), FoundActors);
+  FVector BoxOrigin;
+  FVector BoxExtent;
+  UGameplayStatics::GetActorArrayBounds(FoundActors, false, BoxOrigin, BoxExtent);
+  FVector MinBox = BoxOrigin - BoxExtent;
+
+  int NumI = ( BoxExtent.X * 2.0f ) / MeshGridSize;
+  int NumJ = ( BoxExtent.Y * 2.0f ) / MeshGridSize;
+  ASceneCapture2D* SceneCapture = Cast<ASceneCapture2D>(GetWorld()->SpawnActor(ASceneCapture2D::StaticClass()));
+  SceneCapture->SetActorRotation(FRotator(-90,90,0));
+  SceneCapture->GetCaptureComponent2D()->ProjectionType = ECameraProjectionMode::Type::Orthographic;
+  SceneCapture->GetCaptureComponent2D()->OrthoWidth = MeshGridSize;
+  SceneCapture->GetCaptureComponent2D()->CaptureSource = ESceneCaptureSource::SCS_FinalColorLDR;
+  SceneCapture->GetCaptureComponent2D()->CompositeMode = ESceneCaptureCompositeMode::SCCM_Overwrite;
+  SceneCapture->GetCaptureComponent2D()->bCaptureEveryFrame = false;
+  SceneCapture->GetCaptureComponent2D()->bCaptureOnMovement = false;
+  //UTextureRenderTarget2D* RenderTarget = UKismetRenderingLibrary::CreateRenderTarget2D(GetWorld(), 256, 256,
+  //                                                          ETextureRenderTargetFormat::RTF_RGBA8, FLinearColor(0,0,0), false );
+  //SceneCapture->GetCaptureComponent2D()->TextureTarget = RenderTarget;
+
+  /* Blueprint darfted code should be here */
+  for( int i = 0; i < NumI; i++ )
+  {
+    for( int j = 0; j < NumJ; j++ )
+    {
+      // Offset that each procedural mesh is displaced to accomodate all the tiles
+      FVector2D Offset( MinBox.X + i * MeshGridSize, MinBox.Y + j * MeshGridSize);
+      SceneCapture->SetActorLocation(FVector(Offset.X + MeshGridSize/2, Offset.Y + MeshGridSize/2, 500));
+      //SceneCapture->GetCaptureComponent2D()->CaptureScene();
+      CreateTerrainMesh(i * NumJ + j, Offset, MeshGridSize, MeshGridSectionSize, HeightmapTexture, nullptr );
+    }
+  }
+}
+
+void UOpenDriveToMap::CreateTerrainMesh(const int MeshIndex, const FVector2D Offset, const int GridSize, const float GridSectionSize, const UTexture2D* HeightmapTexture, UTextureRenderTarget2D* RoadMask)
+{
+  // const float GridSectionSize = 100.0f; // In cm
+  const float HeightScale = 3.0f;
+
+  UWorld* World = GetWorld();
+
+  // Creation of the procedural mesh
+  AProceduralMeshActor* MeshActor = World->SpawnActor<AProceduralMeshActor>();
+  MeshActor->SetActorLocation(FVector(Offset.X, Offset.Y, 0));
+  UProceduralMeshComponent* Mesh = MeshActor->MeshComponent;
+
+  TArray<FVector> Vertices;
+  TArray<int32> Triangles;
+
+  TArray<FVector> Normals;
+  TArray<FLinearColor> Colors;
+  TArray<FProcMeshTangent> Tangents;
+  TArray<FVector2D> UVs;
+
+  int VerticesInLine = (GridSize / GridSectionSize) + 1.0f;
+  for( int i = 0; i < VerticesInLine; i++ )
+  {
+    float X = (i * GridSectionSize);
+    const int RoadMapX = i * 255 / VerticesInLine;
+    for( int j = 0; j < VerticesInLine; j++ )
+    {
+      float Y = (j * GridSectionSize);
+      const int RoadMapY = j * 255 / VerticesInLine;
+      const int CellIndex = RoadMapY + 255 * RoadMapX;
+      float HeightValue = GetHeightForLandscape( FVector( (Offset.X + X),
+                                                          (Offset.Y + Y),
+                                                          0));
+      Vertices.Add(FVector( X, Y, HeightValue));
+    }
+  }
+
+  Normals.Init(FVector(0.0f, 0.0f, 1.0f), Vertices.Num());
+  //// Triangles formation. 2 triangles per section.
+
+  for(int i = 0; i < VerticesInLine - 1; i++)
+  {
+    for(int j = 0; j < VerticesInLine - 1; j++)
+    {
+      Triangles.Add(   j       + (   i       * VerticesInLine ) );
+      Triangles.Add( ( j + 1 ) + (   i       * VerticesInLine ) );
+      Triangles.Add(   j       + ( ( i + 1 ) * VerticesInLine ) );
+
+      Triangles.Add( ( j + 1 ) + (   i       * VerticesInLine ) );
+      Triangles.Add( ( j + 1 ) + ( ( i + 1 ) * VerticesInLine ) );
+      Triangles.Add(   j       + ( ( i + 1 ) * VerticesInLine ) );
+    }
+  }
+
+  if( DefaultLandscapeMaterial )
+  {
+    Mesh->SetMaterial(0, DefaultLandscapeMaterial);
+  }
+
+  Mesh->CreateMeshSection_LinearColor(0, Vertices, Triangles, Normals,
+      TArray<FVector2D>(), // UV0
+      TArray<FLinearColor>(), // VertexColor
+      TArray<FProcMeshTangent>(), // Tangents
+      true); // Create collision);
+
+  MeshActor->SetActorLabel("SM_Landscape" + FString::FromInt(MeshIndex) );
+  Landscapes.Add(MeshActor);
+}
+
 void UOpenDriveToMap::OpenFileDialog()
 {
   TArray<FString> OutFileNames;
@@ -163,7 +279,7 @@ void UOpenDriveToMap::LoadMap()
   UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT("UOpenDriveToMap::LoadMap(): File to load %s"), *FilePath );
   FFileHelper::LoadFileToString(FileContent, *FilePath);
   std::string opendrive_xml = carla::rpc::FromLongFString(FileContent);
-  boost::optional<carla::road::Map> CarlaMap = carla::opendrive::OpenDriveParser::Load(opendrive_xml);
+  CarlaMap = carla::opendrive::OpenDriveParser::Load(opendrive_xml);
 
   if (!CarlaMap.has_value())
   {
@@ -181,6 +297,30 @@ void UOpenDriveToMap::LoadMap()
   GenerationFinished();
 }
 
+TArray<AActor*> UOpenDriveToMap::GenerateMiscActors(float Offset)
+{
+  std::vector<std::pair<carla::geom::Transform, std::string>>
+    Locations = CarlaMap->GetTreesTransform(DistanceBetweenTrees, DistanceFromRoadEdge, Offset);
+  TArray<AActor*> Returning;
+  int i = 0;
+  for (auto& cl : Locations)
+  {
+    const FVector scale{ 1.0f, 1.0f, 1.0f };
+    cl.first.location.z = GetHeight(cl.first.location.x, cl.first.location.y) + 0.3f;
+    FTransform NewTransform ( FRotator(cl.first.rotation), FVector(cl.first.location), scale );
+
+    NewTransform = GetSnappedPosition(NewTransform);
+
+    AActor* Spawner = GetWorld()->SpawnActor<AStaticMeshActor>(AStaticMeshActor::StaticClass(),
+      NewTransform.GetLocation(), NewTransform.Rotator());
+    Spawner->Tags.Add(FName("MiscSpawnPosition"));
+    Spawner->Tags.Add(FName(cl.second.c_str()));
+    Spawner->SetActorLabel("MiscSpawnPosition" + FString::FromInt(i));
+    ++i;
+    Returning.Add(Spawner);
+  }
+  return Returning;
+}
 void UOpenDriveToMap::GenerateAll(const boost::optional<carla::road::Map>& CarlaMap )
 {
   if (!CarlaMap.has_value())
@@ -188,10 +328,15 @@ void UOpenDriveToMap::GenerateAll(const boost::optional<carla::road::Map>& Carla
     UE_LOG(LogCarlaToolsMapGenerator, Error, TEXT("Invalid Map"));
   }else
   {
+    if(DefaultHeightmap && !Heightmap){
+      Heightmap = DefaultHeightmap;
+    }
+
     GenerateRoadMesh(CarlaMap);
-    GenerateSpawnPoints(CarlaMap);
-    GenerateTreePositions(CarlaMap);
     GenerateLaneMarks(CarlaMap);
+    GenerateSpawnPoints(CarlaMap);
+    CreateTerrain(12800, 256, nullptr);
+    GenerateTreePositions(CarlaMap);
   }
 }
 
@@ -210,7 +355,7 @@ void UOpenDriveToMap::GenerateRoadMesh( const boost::optional<carla::road::Map>&
   int index = 0;
   for (const auto &PairMap : Meshes)
   {
-    for( const auto &Mesh : PairMap.second )
+    for( auto& Mesh : PairMap.second )
     {
       if (!Mesh->GetVertices().size())
       {
@@ -220,6 +365,22 @@ void UOpenDriveToMap::GenerateRoadMesh( const boost::optional<carla::road::Map>&
         continue;
       }
 
+      if(PairMap.first == carla::road::Lane::LaneType::Driving)
+      {
+        for( auto& Vertex : Mesh->GetVertices() )
+        {
+          FVector VertexFVector = Vertex.ToFVector();
+          Vertex.z += GetHeight(Vertex.x, Vertex.y, DistanceToLaneBorder(CarlaMap,VertexFVector) > 65.0f );
+        }
+        carla::geom::Simplification Simplify(0.15);
+        Simplify.Simplificate(Mesh);
+      }else{
+        for( auto& Vertex : Mesh->GetVertices() )
+        {
+          Vertex.z += GetHeight(Vertex.x, Vertex.y, false) + 0.10;
+        }
+      }
+
       AProceduralMeshActor* TempActor = GetWorld()->SpawnActor<AProceduralMeshActor>();
 
       TempActor->SetActorLabel(FString("SM_Lane_") + FString::FromInt(index));
@@ -255,14 +416,25 @@ void UOpenDriveToMap::GenerateRoadMesh( const boost::optional<carla::road::Map>&
       }
 
       const FProceduralCustomMesh MeshData = *Mesh;
+      TArray<FVector> Normals;
+      TArray<FProcMeshTangent> Tangents;
+
+      UKismetProceduralMeshLibrary::CalculateTangentsForMesh(
+        MeshData.Vertices,
+        MeshData.Triangles,
+        MeshData.UV0,
+        Normals,
+        Tangents
+      );
+
       TempPMC->CreateMeshSection_LinearColor(
           0,
           MeshData.Vertices,
           MeshData.Triangles,
           MeshData.Normals,
-          TArray<FVector2D>(), // UV0
+          MeshData.UV0, // UV0
           TArray<FLinearColor>(), // VertexColor
-          TArray<FProcMeshTangent>(), // Tangents
+          Tangents, // Tangents
           true); // Create collision
       TempActor->SetActorLocation(MeshCentroid * 100);
       // ActorMeshList.Add(TempActor);
@@ -275,7 +447,6 @@ void UOpenDriveToMap::GenerateRoadMesh( const boost::optional<carla::road::Map>&
 
   end = FPlatformTime::Seconds();
   UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT("Mesh spawnning and translation code executed in %f seconds."), end - start);
-
 }
 
 void UOpenDriveToMap::GenerateLaneMarks(const boost::optional<carla::road::Map>& CarlaMap)
@@ -283,23 +454,27 @@ void UOpenDriveToMap::GenerateLaneMarks(const boost::optional<carla::road::Map>&
   opg_parameters.vertex_distance = 0.5f;
   opg_parameters.vertex_width_resolution = 8.0f;
   opg_parameters.simplification_percentage = 15.0f;
-
+  std::vector<std::string> lanemarkinfo;
-  auto MarkingMeshes = CarlaMap->GenerateLineMarkings(opg_parameters);
+  auto MarkingMeshes = CarlaMap->GenerateLineMarkings(opg_parameters, lanemarkinfo);
 
   int index = 0;
   for (const auto& Mesh : MarkingMeshes)
   {
     if ( !Mesh->GetVertices().size() )
     {
+      index++;
       continue;
     }
     if ( !Mesh->IsValid() ) {
+      index++;
       continue;
     }
 
     FVector MeshCentroid = FVector(0, 0, 0);
-    for (auto Vertex : Mesh->GetVertices())
+    for (auto& Vertex : Mesh->GetVertices())
     {
+      FVector VertexFVector = Vertex.ToFVector();
+      Vertex.z += GetHeight(Vertex.x, Vertex.y, DistanceToLaneBorder(CarlaMap,VertexFVector) > 65.0f ) + 0.0001f;
       MeshCentroid += Vertex.ToFVector();
     }
 
@@ -326,6 +501,7 @@ void UOpenDriveToMap::GenerateLaneMarks(const boost::optional<carla::road::Map>&
     if(MinDistance < 250)
     {
       UE_LOG(LogCarlaToolsMapGenerator, Warning, TEXT("Skkipped is %f."), MinDistance);
+      index++;
       continue;
     }
 
@@ -335,21 +511,37 @@ void UOpenDriveToMap::GenerateLaneMarks(const boost::optional<carla::road::Map>&
     TempPMC->bUseAsyncCooking = true;
     TempPMC->bUseComplexAsSimpleCollision = true;
     TempPMC->SetCollisionEnabled(ECollisionEnabled::NoCollision);
+    TempPMC->CastShadow = false;
+    if (lanemarkinfo[index].find("yellow") != std::string::npos) {
+      if(DefaultLaneMarksYellowMaterial)
+        TempPMC->SetMaterial(0, DefaultLaneMarksYellowMaterial);
+    }else{
+      if(DefaultLaneMarksWhiteMaterial)
+        TempPMC->SetMaterial(0, DefaultLaneMarksWhiteMaterial);
 
-    if(DefaultLaneMarksMaterial)
+    }
-      TempPMC->SetMaterial(0, DefaultLaneMarksMaterial);
 
     const FProceduralCustomMesh MeshData = *Mesh;
+    TArray<FVector> Normals;
+    TArray<FProcMeshTangent> Tangents;
+    UKismetProceduralMeshLibrary::CalculateTangentsForMesh(
+      MeshData.Vertices,
+      MeshData.Triangles,
+      MeshData.UV0,
+      Normals,
+      Tangents
+    );
     TempPMC->CreateMeshSection_LinearColor(
       0,
       MeshData.Vertices,
       MeshData.Triangles,
-      MeshData.Normals,
+      Normals,
-      TArray<FVector2D>(), // UV0
+      MeshData.UV0, // UV0
       TArray<FLinearColor>(), // VertexColor
-      TArray<FProcMeshTangent>(), // Tangents
+      Tangents, // Tangents
       true); // Create collision
     TempActor->SetActorLocation(MeshCentroid * 100);
+    TempActor->Tags.Add(*FString(lanemarkinfo[index].c_str()));
     LaneMarkerActorList.Add(TempActor);
     index++;
   }
@@ -370,12 +562,19 @@ void UOpenDriveToMap::GenerateSpawnPoints( const boost::optional<carla::road::Ma
 
 void UOpenDriveToMap::GenerateTreePositions( const boost::optional<carla::road::Map>& CarlaMap )
 {
-  const std::vector<std::pair<carla::geom::Vector3D, std::string>> Locations =
+  std::vector<std::pair<carla::geom::Transform, std::string>> Locations =
-    CarlaMap->GetTreesPosition(DistanceBetweenTrees, DistanceFromRoadEdge );
+    CarlaMap->GetTreesTransform(DistanceBetweenTrees, DistanceFromRoadEdge );
   int i = 0;
-  for (const auto &cl : Locations)
+  for (auto &cl : Locations)
   {
-    AActor *Spawner = GetWorld()->SpawnActor<AStaticMeshActor>(AStaticMeshActor::StaticClass(), cl.first.ToFVector() * 100, FRotator(0,0,0));
+    const FVector scale{ 1.0f, 1.0f, 1.0f };
+    cl.first.location.z  = GetHeight(cl.first.location.x, cl.first.location.y) + 0.3f;
+    FTransform NewTransform ( FRotator(cl.first.rotation), FVector(cl.first.location), scale );
+    NewTransform = GetSnappedPosition(NewTransform);
+
+    AActor* Spawner = GetWorld()->SpawnActor<AStaticMeshActor>(AStaticMeshActor::StaticClass(),
+      NewTransform.GetLocation(), NewTransform.Rotator());
+
     Spawner->Tags.Add(FName("TreeSpawnPosition"));
     Spawner->Tags.Add(FName(cl.second.c_str()));
     Spawner->SetActorLabel("TreeSpawnPosition" + FString::FromInt(i) );
@@ -618,3 +817,75 @@ void UOpenDriveToMap::SaveMap()
   end = FPlatformTime::Seconds();
   UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT(" Spawning Static Meshes code executed in %f seconds."), end - start);
 }
+
+float UOpenDriveToMap::GetHeight(float PosX, float PosY, bool bDrivingLane){
+  if( bDrivingLane ){
+    return carla::geom::deformation::GetZPosInDeformation(PosX, PosY) -
+      carla::geom::deformation::GetBumpDeformation(PosX,PosY);
+  }else{
+    return carla::geom::deformation::GetZPosInDeformation(PosX, PosY) +
+      (carla::geom::deformation::GetZPosInDeformation(PosX, PosY) * -0.15f);
+  }
+}
+
+FTransform UOpenDriveToMap::GetSnappedPosition( FTransform Origin ){
+  FTransform ToReturn = Origin;
+  FVector Start = Origin.GetLocation() + FVector( 0, 0, 1000);
+  FVector End = Origin.GetLocation() - FVector( 0, 0, 1000);
+  FHitResult HitResult;
+  FCollisionQueryParams CollisionQuery;
+  FCollisionResponseParams CollisionParams;
+
+  if( GetWorld()->LineTraceSingleByChannel(
+    HitResult,
+    Start,
+    End,
+    ECollisionChannel::ECC_WorldStatic,
+    CollisionQuery,
+    CollisionParams
+  ) )
+  {
+    ToReturn.SetLocation(HitResult.Location);
+  }
+  return ToReturn;
+}
+
+float UOpenDriveToMap::GetHeightForLandscape( FVector Origin ){
+  FVector Start = Origin + FVector( 0, 0, 10000);
+  FVector End = Origin - FVector( 0, 0, 10000);
+  FHitResult HitResult;
+  FCollisionQueryParams CollisionQuery;
+  CollisionQuery.AddIgnoredActors(Landscapes);
+  FCollisionResponseParams CollisionParams;
+
+  if( GetWorld()->LineTraceSingleByChannel(
+    HitResult,
+    Start,
+    End,
+    ECollisionChannel::ECC_WorldStatic,
+    CollisionQuery,
+    CollisionParams
+  ) )
+  {
+    return GetHeight(Origin.X * 0.01f, Origin.Y * 0.01f, true) * 100.0f - 25.0f;
+  }else{
+    return GetHeight(Origin.X * 0.01f, Origin.Y * 0.01f, true) * 100.0f;
+  }
+  return 0.0f;
+}
+
+float UOpenDriveToMap::DistanceToLaneBorder(const boost::optional<carla::road::Map>& CarlaMap,
+        FVector &location, int32_t lane_type ) const
+{
+  carla::geom::Location cl(location);
+  //wp = GetClosestWaypoint(pos). if distance wp - pos == lane_width --> estas al borde de la carretera
+  auto wp = CarlaMap->GetClosestWaypointOnRoad(cl, lane_type);
+  if(wp)
+  {
+    carla::geom::Transform ct = CarlaMap->ComputeTransform(*wp);
+    double LaneWidth = CarlaMap->GetLaneWidth(*wp);
+    return cl.Distance(ct.location) - LaneWidth;
+  }
+  return 100000.0f;
+}
+

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

@@ -23,8 +23,12 @@ class CARLATOOLS_API UHoudiniImporterWidget : public UEditorUtilityWidget
   static void CreateSubLevels(ALargeMapManager* LargeMapManager);
 
   UFUNCTION(BlueprintCallable, Category="HoudiniImporterWidget")
-  static void MoveActorsToSubLevel(TArray<AActor*> Actors, ALargeMapManager* LargeMapManager);
+  static void MoveActorsToSubLevelWithLargeMap(TArray<AActor*> Actors, ALargeMapManager* LargeMapManager);
 
+  UFUNCTION(BlueprintCallable, Category="HoudiniImporterWidget")
+  static void MoveActorsToSubLevel(TArray<AActor*> Actors, ULevelStreaming* Level);
+
+  UFUNCTION(BlueprintCallable, Category="HoudiniImporterWidget")
   static void UpdateGenericActorCoordinates(AActor* Actor, FVector TileOrigin);
 
   static void UpdateInstancedMeshCoordinates(

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

@@ -4,6 +4,12 @@
 
 #include "CoreMinimal.h"
 #include "Blueprint/UserWidget.h"
+
+THIRD_PARTY_INCLUDES_START
+#include <boost/asio.hpp>
+THIRD_PARTY_INCLUDES_END
+#include <memory>
+
 #include "MapPreviewUserWidget.generated.h"
 
 class FSocket;
@@ -15,7 +21,10 @@ class CARLATOOLS_API UMapPreviewUserWidget : public UUserWidget
 	GENERATED_BODY()
 
 private:
-	FSocket* Socket;
+	// Boost socket
+  boost::asio::io_service io_service;
+  std::unique_ptr<boost::asio::ip::tcp::socket> SocketPtr;
+
 
 	bool SendStr(FString Msg);
 	FString RecvCornersLatLonCoords();

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

@@ -35,6 +35,14 @@ public:
   UFUNCTION( BlueprintCallable )
   void CreateMap();
 
+  UFUNCTION(BlueprintCallable)
+  void CreateTerrain(const int MeshGridSize, const float MeshGridSectionSize,
+     const class UTexture2D* HeightmapTexture);
+
+  UFUNCTION(BlueprintCallable)
+  void CreateTerrainMesh(const int MeshIndex, const FVector2D Offset, const int GridSize, const float GridSectionSize,
+     const class UTexture2D* HeightmapTexture, class UTextureRenderTarget2D* RoadMask);
+
   UPROPERTY(EditAnywhere, BlueprintReadWrite, Category="File")
   FString FilePath;
 
@@ -47,15 +55,24 @@ public:
   UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Settings")
   FVector2D OriginGeoCoordinates;
 
-  UPROPERTY(EditAnywhere, BlueprintReadWrite)
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Defaults")
   UMaterialInstance* DefaultRoadMaterial;
 
-  UPROPERTY(EditAnywhere, BlueprintReadWrite)
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Defaults")
-  UMaterialInstance* DefaultLaneMarksMaterial;
+  UMaterialInstance* DefaultLaneMarksWhiteMaterial;
 
-  UPROPERTY(EditAnywhere, BlueprintReadWrite)
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Defaults")
+  UMaterialInstance* DefaultLaneMarksYellowMaterial;
+
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Defaults")
   UMaterialInstance* DefaultSidewalksMaterial;
 
+  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" )
@@ -66,6 +83,9 @@ protected:
   UFUNCTION( BlueprintCallable )
   void SaveMap();
 
+  UFUNCTION(BlueprintCallable)
+  TArray<AActor*> GenerateMiscActors(float Offset);
+
   UFUNCTION( BlueprintImplementableEvent )
   void GenerationFinished();
 private:
@@ -82,11 +102,21 @@ private:
   void GenerateTreePositions(const boost::optional<carla::road::Map>& CarlaMap);
   void GenerateLaneMarks(const boost::optional<carla::road::Map>& CarlaMap);
 
+  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);
+
+  float DistanceToLaneBorder(const boost::optional<carla::road::Map>& CarlaMap,
+      FVector &location,
+      int32_t lane_type = static_cast<int32_t>(carla::road::Lane::LaneType::Driving)) const;
+
   UPROPERTY()
   UCustomFileDownloader* FileDownloader;
   UPROPERTY()
@@ -99,4 +129,8 @@ private:
   TArray<FString> RoadType;
   UPROPERTY()
   TArray<UProceduralMeshComponent*> RoadMesh;
+  UPROPERTY()
+  TArray<AActor*> Landscapes;
+  UPROPERTY()
+  UTexture2D* Heightmap;
 };

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

@@ -26,10 +26,10 @@ struct FTreeTableRow : public FTableRowBase {
 
 public:
 
-  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category= "Category")
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category= "Meshes")
-  ELaneDescriptor TreesCategory;
+  TArray<TSoftObjectPtr<UStaticMesh>> Meshes;
 
-  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category= "Trees")
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Blueprints")
-  TArray<TSoftObjectPtr<UStaticMesh>> Trees;
+  TArray<TSoftClassPtr<AActor>> Blueprints;
 
 };

osm-world-renderer/CMakeLists.txt

@@ -3,6 +3,7 @@ project(OsmMapRenderer)
 
 # Libosmscout and Luna SVG Library
 include_directories(ThirdParties/include)
+include_directories(ThirdParties/include/lunasvg)
 link_directories(ThirdParties/lib)
 
 add_definitions(-D_USE_MATH_DEFINES)

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

@@ -11,7 +11,9 @@
 #include <osmscout/Database.h>
 #include <osmscoutmap/MapService.h>
 #include <osmscout/BasemapDatabase.h>
-
+#if defined(_MSC_VER)
+    #include <osmscout/projection/MercatorProjection.h>
+#endif
 class MapDrawer
 {
 public:

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

@@ -68,10 +68,11 @@ void OsmRenderer::RunCmd(string Cmd)
 
   if(CmdType == "-R")     // Render Command
   {
-    std::uint8_t* RenderedMap = new uint8_t[Drawer->GetImgSizeSqr() * 4];
+    std::unique_ptr<std::uint8_t> RenderedMap = std::unique_ptr<std::uint8_t>(new uint8_t[Drawer->GetImgSizeSqr() * 4]);
-    RenderMapCmd(CmdVector, RenderedMap);
+    RenderMapCmd(CmdVector, RenderedMap.get());
 
-    Asio::write(*SocketPtr, Asio::buffer(RenderedMap, (Drawer->GetImgSizeSqr() * 4 * sizeof(uint8_t))));
+    std::cout << LOG_PRFX << "Sending image data: " << (Drawer->GetImgSizeSqr() * 4 * sizeof(uint8_t)) << " bytes" << std::endl;
+    Asio::write(*SocketPtr, Asio::buffer(RenderedMap.get(), (Drawer->GetImgSizeSqr() * 4 * sizeof(uint8_t))));
 
     // TODO: delete RenderedMap after is sent
   }