Aaron/opendrivetomapineditor (#6056)

* 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

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

* Fixed mesh format translations

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

* 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

* Cleaning branch

* Cleanup last spaces

* Remove spaces on Opendrivetowditor.cpp

LibCarla/source/carla/geom/Mesh.cpp

@@ -9,6 +9,8 @@
 #include <string>
 #include <sstream>
 #include <ios>
+#include <iostream>
+#include <fstream>
 
 #include <carla/geom/Math.h>
 
@@ -266,6 +268,9 @@ namespace geom {
     return _indexes;
   }
 
+  std::vector<Mesh::index_type>& Mesh::GetIndexes() {
+    return _indexes;
+  }
   size_t Mesh::GetIndexesNum() const {
     return _indexes.size();
   }
@@ -282,6 +287,62 @@ namespace geom {
     return _vertices.size();
   }
 
+  Mesh& Mesh::ConcatMesh(const Mesh& rhs, int num_vertices_to_link) {
+
+    if (!rhs.IsValid()) 
+    {
+      return *this += rhs;
+    }
+    const size_t v_num = GetVerticesNum();
+    const size_t i_num = GetIndexesNum();
+
+    _vertices.insert(
+      _vertices.end(),
+      rhs.GetVertices().begin(),
+      rhs.GetVertices().end());
+
+    _normals.insert(
+      _normals.end(),
+      rhs.GetNormals().begin(),
+      rhs.GetNormals().end());
+
+    const int vertex_to_start_concating = v_num - num_vertices_to_link;
+
+    for( int 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 );
+      _indexes.push_back( v_num + i );
+
+      _indexes.push_back( vertex_to_start_concating + i + 1);
+      _indexes.push_back( v_num + i + 1);
+      _indexes.push_back( v_num + i);
+    }
+
+    std::transform(
+      rhs.GetIndexes().begin(),
+      rhs.GetIndexes().end(),
+      std::back_inserter(_indexes),
+      [=](size_t index) {return index + v_num; });
+
+    _uvs.insert(
+      _uvs.end(),
+      rhs.GetUVs().begin(),
+      rhs.GetUVs().end());
+
+    std::transform(
+      rhs.GetMaterials().begin(),
+      rhs.GetMaterials().end(),
+      std::back_inserter(_materials),
+      [=](MeshMaterial mat) {
+        mat.index_start += i_num;
+        mat.index_end += i_num;
+        return mat;
+      });
+
+    return *this;
+  }
+
   Mesh &Mesh::operator+=(const Mesh &rhs) {
     const size_t v_num = GetVerticesNum();
     const size_t i_num = GetIndexesNum();

LibCarla/source/carla/geom/Mesh.h

@@ -131,7 +131,9 @@ namespace geom {
 
     const std::vector<normal_type> &GetNormals() const;
 
-    const std::vector<index_type> &GetIndexes() const;
+    const std::vector<index_type>& GetIndexes() const;
+
+    std::vector<index_type> &GetIndexes();
 
     size_t GetIndexesNum() const;
 
@@ -142,6 +144,9 @@ namespace geom {
     /// Returns the index of the last added vertex (number of vertices).
     size_t GetLastVertexIndex() const;
 
+    /// Merges two meshes into a single mesh
+    Mesh& ConcatMesh(const Mesh& rhs, int num_vertices_to_link);
+
     /// Merges two meshes into a single mesh
     Mesh &operator+=(const Mesh &rhs);
 

LibCarla/source/carla/road/Map.cpp

@@ -7,6 +7,7 @@
 #include "carla/road/Map.h"
 #include "carla/Exception.h"
 #include "carla/geom/Math.h"
+#include "carla/geom/Vector3D.h"
 #include "carla/road/MeshFactory.h"
 #include "carla/road/element/LaneCrossingCalculator.h"
 #include "carla/road/element/RoadInfoCrosswalk.h"
@@ -17,6 +18,8 @@
 #include "carla/road/element/RoadInfoMarkRecord.h"
 #include "carla/road/element/RoadInfoSignal.h"
 
+#include "simplify/Simplify.h"
+
 #include <vector>
 #include <unordered_map>
 #include <stdexcept>
@@ -1040,6 +1043,7 @@ namespace road {
     return out_mesh;
   }
 
+
   std::vector<std::unique_ptr<geom::Mesh>> Map::GenerateChunkedMesh(
       const rpc::OpendriveGenerationParameters& params) const {
     geom::MeshFactory mesh_factory(params);
@@ -1124,6 +1128,161 @@ namespace road {
     return result;
   }
 
+  std::map<road::Lane::LaneType , std::vector<std::unique_ptr<geom::Mesh>>> 
+    Map::GenerateOrderedChunkedMesh( const rpc::OpendriveGenerationParameters& params) const 
+  {
+
+    geom::MeshFactory mesh_factory(params);
+    std::map<road::Lane::LaneType , std::vector<std::unique_ptr<geom::Mesh>>> out_mesh_list;
+    std::unordered_map<JuncId, geom::Mesh> junction_map;
+
+    float simplificationrate = params.simplification_percentage * 0.01f;
+    for (auto &&pair : _data.GetRoads()) 
+    {
+      const auto &road = pair.second;
+      if (!road.IsJunction()) {
+        mesh_factory.GenerateAllOrderedWithMaxLen(road, out_mesh_list);
+      }
+    }
+
+    for (auto& current_mesh_vector : out_mesh_list)
+    {
+      if (current_mesh_vector.first != road::Lane::LaneType::Driving)
+      {
+        continue;
+      }
+
+      for (std::unique_ptr<geom::Mesh>& current_mesh : current_mesh_vector.second)
+      {
+
+        if (!current_mesh->IsValid())
+        {
+          continue;
+        }
+
+        for (carla::geom::Vector3D& current_vertex : current_mesh->GetVertices())
+        {
+          current_vertex.z = GetZPosInDeformation(current_vertex.x, current_vertex.y);
+        }
+
+        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 = current_vertex.z;
+          Simplify::vertices.push_back(v);
+        }
+
+        for (int 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;
+
+          if (i >= current_mesh->GetIndexes().size()) {
+            std::cout << "Not right number of Indexes Index: " << i << " Indices size: " << current_mesh->GetIndexes().size() << std::endl;
+          }
+
+          Simplify::triangles.push_back(t);
+        }
+
+        // Reduce to the X% of the polys
+        float target_size = Simplify::triangles.size();
+        Simplify::simplify_mesh( (target_size * simplificationrate) );
+
+        current_mesh->GetVertices().clear();
+        current_mesh->GetIndexes().clear();
+        for (Simplify::Vertex& current_vertex : Simplify::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 (int i = 0; i < Simplify::triangles.size(); ++i)
+        {
+          for (int j = 0; j < 3; ++j) {
+            current_mesh->GetIndexes().push_back((Simplify::triangles[i].v[j]) + 1);
+          }
+        }
+        Simplify::vertices.clear();
+        Simplify::triangles.clear();
+      }
+    }
+
+
+    // Generate roads within junctions and smooth them
+    for (const auto &junc_pair : _data.GetJunctions()) {
+      const auto &junction = junc_pair.second;
+      std::vector<std::unique_ptr<geom::Mesh>> lane_meshes;
+      std::vector<std::unique_ptr<geom::Mesh>> sidewalk_lane_meshes;
+      for(const auto &connection_pair : junction.GetConnections()) {
+        const auto &connection = connection_pair.second;
+        const auto &road = _data.GetRoads().at(connection.connecting_road);
+        for (auto &&lane_section : road.GetLaneSections()) {
+          for (auto &&lane_pair : lane_section.GetLanes()) {
+            const auto &lane = lane_pair.second;
+            if (lane.GetType() != road::Lane::LaneType::Sidewalk) {
+              lane_meshes.push_back(mesh_factory.Generate(lane));
+            } else {
+              sidewalk_lane_meshes.push_back(mesh_factory.Generate(lane));
+            }
+          }
+        }
+      }
+
+      if(params.smooth_junctions) {
+        std::unique_ptr<geom::Mesh> merged_mesh = mesh_factory.MergeAndSmooth(lane_meshes);
+        std::unique_ptr<geom::Mesh> sidewalk_mesh = std::make_unique<geom::Mesh>();
+        for(auto& lane : sidewalk_lane_meshes) {
+          *sidewalk_mesh += *lane;
+        }
+
+        for (carla::geom::Vector3D& current_vertex : merged_mesh->GetVertices())
+        {
+          current_vertex.z = GetZPosInDeformation(current_vertex.x, current_vertex.y);
+        }
+        for (carla::geom::Vector3D& current_vertex : sidewalk_mesh->GetVertices())
+        {
+          current_vertex.z = GetZPosInDeformation(current_vertex.x, current_vertex.y);
+        }
+
+        out_mesh_list[road::Lane::LaneType::Driving].push_back(std::move(merged_mesh));
+        out_mesh_list[road::Lane::LaneType::Sidewalk].push_back(std::move(sidewalk_mesh));
+      } else {
+        std::unique_ptr<geom::Mesh> junction_mesh = std::make_unique<geom::Mesh>();
+        std::unique_ptr<geom::Mesh> sidewalk_mesh = std::make_unique<geom::Mesh>();
+        for(auto& lane : lane_meshes) {
+          *junction_mesh += *lane;
+        }
+        for(auto& lane : sidewalk_lane_meshes) {
+          *sidewalk_mesh += *lane;
+        }
+
+        for (carla::geom::Vector3D& current_vertex : junction_mesh->GetVertices())
+        {
+          current_vertex.z = GetZPosInDeformation(current_vertex.x, current_vertex.y);
+        }
+        for (carla::geom::Vector3D& current_vertex : sidewalk_mesh->GetVertices())
+        {
+          current_vertex.z = GetZPosInDeformation(current_vertex.x, current_vertex.y);
+        }
+        out_mesh_list[road::Lane::LaneType::Driving].push_back(std::move(junction_mesh));
+        out_mesh_list[road::Lane::LaneType::Sidewalk].push_back(std::move(sidewalk_mesh));
+      }
+    }
+
+
+    return out_mesh_list;
+  }
+
+
   geom::Mesh Map::GetAllCrosswalkMesh() const {
     geom::Mesh out_mesh;
 
@@ -1160,5 +1319,24 @@ namespace road {
     return out_mesh;
   }
 
+  float Map::GetZPosInDeformation(float posx, float posy) const
+  {
+    // Amplitud
+    const float A1 = 0.3f;
+    const float A2 = 0.5f;
+    // Fases
+    const float F1 = 100.0;
+    const float F2 = -1500.0;
+    // Modifiers
+    const float Kx1 =  0.035f;
+    const float Kx2 =  0.02f;
+
+    const float Ky1 = -0.08f;
+    const float Ky2 =  0.05f;
+
+    return A1 * sin((Kx1 * posx + Ky1 * posy + F1)) +
+           A2 * sin((Kx2 * posx + Ky2 * posy + F2));
+  }
+
 } // namespace road
 } // namespace carla

LibCarla/source/carla/road/Map.h

@@ -159,6 +159,9 @@ namespace road {
     std::vector<std::unique_ptr<geom::Mesh>> GenerateChunkedMesh(
         const rpc::OpendriveGenerationParameters& params) const;
 
+    std::map<road::Lane::LaneType , std::vector<std::unique_ptr<geom::Mesh>>> 
+      GenerateOrderedChunkedMesh( const rpc::OpendriveGenerationParameters& params) const;
+
     /// Buids a mesh of all crosswalks based on the OpenDRIVE
     geom::Mesh GetAllCrosswalkMesh() const;
 
@@ -201,6 +204,8 @@ private:
         geom::Transform &current_transform,
         Waypoint &current_waypoint,
         Waypoint &next_waypoint);
+
+    float GetZPosInDeformation(float posx, float posy) const;
   };
 
 } // namespace road

LibCarla/source/carla/road/MeshFactory.cpp

@@ -19,6 +19,7 @@ namespace geom {
     road_param.max_road_len = static_cast<float>(params.max_road_length);
     road_param.extra_lane_width = static_cast<float>(params.additional_width);
     road_param.wall_height = static_cast<float>(params.wall_height);
+    road_param.vertex_width_resolution = static_cast<float>(params.vertex_width_resolution);
   }
 
   /// We use this epsilon to shift the waypoints away from the edges of the lane
@@ -48,6 +49,12 @@ namespace geom {
     return Generate(lane, s_start, s_end);
   }
 
+  std::unique_ptr<Mesh> MeshFactory::GenerateTesselated(const road::Lane& lane) const {
+    const double s_start = lane.GetDistance() + EPSILON;
+    const double s_end = lane.GetDistance() + lane.GetLength() - EPSILON;
+    return GenerateTesselated(lane, s_start, s_end);
+  }
+
   std::unique_ptr<Mesh> MeshFactory::Generate(
       const road::Lane &lane, const double s_start, const double s_end) const {
     RELEASE_ASSERT(road_param.resolution > 0.0);
@@ -63,13 +70,16 @@ namespace geom {
     double s_current = s_start;
 
     std::vector<geom::Vector3D> vertices;
+
     if (lane.IsStraight()) {
       // Mesh optimization: If the lane is straight just add vertices at the
       // begining and at the end of it
       const auto edges = lane.GetCornerPositions(s_current, road_param.extra_lane_width);
       vertices.push_back(edges.first);
       vertices.push_back(edges.second);
-    } else {
+    } 
+    else 
+    {
       // 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
@@ -98,6 +108,103 @@ namespace geom {
     return std::make_unique<Mesh>(out_mesh);
   }
 
+  std::unique_ptr<Mesh> MeshFactory::GenerateTesselated(
+    const road::Lane& lane, const double s_start, const double s_end) const {
+    RELEASE_ASSERT(road_param.resolution > 0.0);
+    DEBUG_ASSERT(s_start >= 0.0);
+    DEBUG_ASSERT(s_end <= lane.GetDistance() + lane.GetLength());
+    DEBUG_ASSERT(s_end >= EPSILON);
+    DEBUG_ASSERT(s_start < s_end);
+    // The lane with lane_id 0 have no physical representation in OpenDRIVE
+    Mesh out_mesh;
+    if (lane.GetId() == 0) {
+      return std::make_unique<Mesh>(out_mesh);
+    }
+    double s_current = s_start;
+
+    std::vector<geom::Vector3D> vertices;
+    // Ensure minimum vertices in width are two
+    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;
+
+    // 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;
+
+      for (int i = 0; i < vertices_in_width; ++i) 
+      {
+        vertices.push_back(current_vertex);
+        current_vertex = current_vertex + segments_size;
+      }
+      // Update the current waypoint's "s"
+      s_current += road_param.resolution;
+    } while (s_current < s_end);
+
+    // This ensures the mesh is constant and have no gaps between roads,
+    // adding geometry at the very end of the lane
+
+    if (s_end - (s_current - road_param.resolution) > EPSILON) {
+      const auto edges = 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;
+
+      for (int i = 0; i < vertices_in_width; ++i)
+      {
+        vertices.push_back(current_vertex);
+        current_vertex = current_vertex + segments_size;
+      }
+    }
+
+    out_mesh.AddVertices(vertices);
+
+    // Add the adient material, create the strip and close the material
+    out_mesh.AddMaterial(
+      lane.GetType() == road::Lane::LaneType::Sidewalk ? "sidewalk" : "road");
+
+    const int number_of_rows = (vertices.size() / vertices_in_width);
+
+    for (int i = 0; i < (number_of_rows - 1); ++i) 
+    {
+      for (int j = 0; j < vertices_in_width - 1; ++j) 
+      {
+        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);
+
+        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();
+    return std::make_unique<Mesh>(out_mesh);
+  }
+
+
+  void MeshFactory::GenerateLaneSectionOrdered(
+    const road::LaneSection &lane_section,
+    std::map<carla::road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>>& result) 
+    const 
+  {
+    const int vertices_in_width = road_param.vertex_width_resolution >= 2 ? road_param.vertex_width_resolution : 2;
+    for (auto &&lane_pair : lane_section.GetLanes()) 
+    {
+      Mesh out_mesh = *GenerateTesselated(lane_pair.second);
+      if( result[lane_pair.second.GetType()].empty() )
+      {
+        result[lane_pair.second.GetType()].push_back(std::make_unique<Mesh>(out_mesh));
+      }
+      else
+      {
+        (result[lane_pair.second.GetType()][0])->ConcatMesh(out_mesh, vertices_in_width);
+      }
+    }
+  }
+
   std::unique_ptr<Mesh> MeshFactory::GenerateWalls(const road::LaneSection &lane_section) const {
     Mesh out_mesh;
 
@@ -263,6 +370,62 @@ namespace geom {
     return mesh_uptr_list;
   }
 
+std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory::GenerateOrderedWithMaxLen(
+      const road::Road &road) const {
+    std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> mesh_uptr_list;
+    for (auto &&lane_section : road.GetLaneSections()) {
+      std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> section_uptr_list = GenerateOrderedWithMaxLen(lane_section);
+      mesh_uptr_list.insert( 
+        std::make_move_iterator(section_uptr_list.begin()),
+        std::make_move_iterator(section_uptr_list.end()));
+    }
+    return mesh_uptr_list;
+  }
+
+  std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory::GenerateOrderedWithMaxLen(
+    const road::LaneSection &lane_section) const {
+      const int vertices_in_width = road_param.vertex_width_resolution >= 2 ? road_param.vertex_width_resolution : 2;
+
+      std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> mesh_uptr_list;
+
+      if (lane_section.GetLength() < road_param.max_road_len) {
+        GenerateLaneSectionOrdered(lane_section, mesh_uptr_list);
+      } else {
+        double s_current = lane_section.GetDistance() + EPSILON;
+        const double s_end = lane_section.GetDistance() + lane_section.GetLength() - EPSILON;
+        while(s_current + road_param.max_road_len < s_end) {
+          const auto s_until = s_current + road_param.max_road_len;
+          for (auto &&lane_pair : lane_section.GetLanes()) {
+            Mesh lane_section_mesh = *GenerateTesselated(lane_pair.second, s_current, s_until);
+            if( mesh_uptr_list[lane_pair.second.GetType()].empty() )
+            {
+              mesh_uptr_list[lane_pair.second.GetType()].push_back(std::make_unique<Mesh>(lane_section_mesh));
+            }
+            else
+            {
+              (mesh_uptr_list[lane_pair.second.GetType()][0])->ConcatMesh(lane_section_mesh, vertices_in_width);
+            }
+
+          }
+          s_current = s_until;
+        }
+        if (s_end - s_current > EPSILON) {
+          for (auto &&lane_pair : lane_section.GetLanes()) {
+            Mesh lane_section_mesh = *GenerateTesselated(lane_pair.second, s_current, s_end);
+            if( mesh_uptr_list[lane_pair.second.GetType()].empty() )
+            {
+              mesh_uptr_list[lane_pair.second.GetType()].push_back(std::make_unique<Mesh>(lane_section_mesh));
+            }
+            else
+            {
+              (mesh_uptr_list[lane_pair.second.GetType()][0])->ConcatMesh(lane_section_mesh, vertices_in_width);
+            }
+          }
+        }
+      }
+      return mesh_uptr_list;
+  }
+
   std::vector<std::unique_ptr<Mesh>> MeshFactory::GenerateWallsWithMaxLen(
       const road::Road &road) const {
     std::vector<std::unique_ptr<Mesh>> mesh_uptr_list;
@@ -352,6 +515,21 @@ namespace geom {
     return mesh_uptr_list;
   }
 
+void MeshFactory::GenerateAllOrderedWithMaxLen(
+      const road::Road &road,
+      std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>>& roads
+      ) const 
+  {
+    // Get road meshes
+    std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> result = GenerateOrderedWithMaxLen(road);
+    for (auto &pair_map : result) 
+    {
+      std::vector<std::unique_ptr<Mesh>>& origin = roads[pair_map.first];
+      std::vector<std::unique_ptr<Mesh>>& source = pair_map.second;
+      std::move(source.begin(), source.end(), std::back_inserter(origin));
+    }
+  }
+
   struct VertexWeight {
     Mesh::vertex_type* vertex;
     double weight;

LibCarla/source/carla/road/MeshFactory.h

@@ -41,9 +41,19 @@ namespace geom {
     std::unique_ptr<Mesh> Generate(
         const road::Lane &lane, const double s_start, const double s_end) const;
 
+    /// Generates a mesh that defines a lane from a given s start and end with bigger tesselation
+    std::unique_ptr<Mesh> GenerateTesselated(
+      const road::Lane& lane, const double s_start, const double s_end) const;
+
     /// Generates a mesh that defines the whole lane
     std::unique_ptr<Mesh> Generate(const road::Lane &lane) const;
 
+    /// Generates a mesh that defines the whole lane with bigger tesselation
+    std::unique_ptr<Mesh> GenerateTesselated(const road::Lane& lane) const;
+
+    /// Generates a mesh that defines a lane section
+    void GenerateLaneSectionOrdered(const road::LaneSection &lane_section, 
+        std::map<carla::road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>>& result ) const;
     // -- Walls --
 
     /// Genrates a mesh representing a wall on the road corners to avoid
@@ -68,6 +78,14 @@ namespace geom {
     std::vector<std::unique_ptr<Mesh>> GenerateWithMaxLen(
         const road::LaneSection &lane_section) const;
 
+    /// Generates a list of meshes that defines a road with a maximum length
+    std::map<carla::road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> GenerateOrderedWithMaxLen(
+        const road::Road &road) const;
+
+    /// Generates a list of meshes that defines a lane_section with a maximum length
+    std::map<carla::road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> GenerateOrderedWithMaxLen(
+        const road::LaneSection &lane_section) const;
+
     /// Generates a list of meshes that defines a road safety wall with a maximum length
     std::vector<std::unique_ptr<Mesh>> GenerateWallsWithMaxLen(
         const road::Road &road) const;
@@ -82,6 +100,10 @@ namespace geom {
     std::vector<std::unique_ptr<Mesh>> GenerateAllWithMaxLen(
         const road::Road &road) const;
 
+   
+    void GenerateAllOrderedWithMaxLen(const road::Road &road,
+         std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>>& roads) const;
+
     std::unique_ptr<Mesh> MergeAndSmooth(std::vector<std::unique_ptr<Mesh>> &lane_meshes) const;
 
     // =========================================================================
@@ -94,6 +116,7 @@ namespace geom {
       float max_road_len                = 50.0f;
       float extra_lane_width            =  1.0f;
       float wall_height                 =  0.6f;
+      float vertex_width_resolution     =  4.0f;
       // Road mesh smoothness:
       float max_weight_distance         =  5.0f;
       float same_lane_weight_multiplier =  2.0f;

LibCarla/source/carla/rpc/OpendriveGenerationParameters.h

@@ -35,6 +35,8 @@ namespace rpc {
     double max_road_length = 50.0;
     double wall_height = 1.0;
     double additional_width = 0.6;
+    double vertex_width_resolution = 4.0f;
+    float simplification_percentage = 20.0f;
     bool smooth_junctions = true;
     bool enable_mesh_visibility = true;
     bool enable_pedestrian_navigation = true;

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

@@ -72,7 +72,8 @@ public class Carla : ModuleRules
         "RenderCore",
         "RHI",
         "Renderer",
-        "ProceduralMeshComponent"
+        "ProceduralMeshComponent",
+        "MeshDescription"
         // ... add other public dependencies that you statically link with here ...
       }
       );
@@ -94,6 +95,8 @@ public class Carla : ModuleRules
         "CoreUObject",
         "Engine",
         "Foliage",
+        "HTTP",
+        "StaticMeshDescription",
         "ImageWriteQueue",
         "Json",
         "JsonUtilities",
@@ -201,6 +204,13 @@ public class Carla : ModuleRules
         AddDllDependency(Path.Combine(LibCarlaInstallPath, "dll"), "ChronoModels_robot.dll");
         bUseRTTI = true;
       }
+
+      //OsmToODR
+      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "sqlite3.lib"));
+      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "xerces-c_3.lib"));
+      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "proj.lib"));
+      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "osm2odr.lib"));
+      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "zlibstatic.lib"));
     }
     else
     {
@@ -219,6 +229,7 @@ public class Carla : ModuleRules
         AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoEngine_vehicle.so"));
         AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoModels_vehicle.so"));
         AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoModels_robot.so"));
+
         bUseRTTI = true;
       }
 
@@ -296,6 +307,14 @@ public class Carla : ModuleRules
         PublicAdditionalLibraries.Add("/usr/lib/x86_64-linux-gnu/libpython3.9.so");
       }
 
+
+      //OsmToODR
+      PublicAdditionalLibraries.Add("/usr/lib/x86_64-linux-gnu/libc.so");
+      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libsqlite3.so"));
+      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libxerces-c.a"));
+      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libproj.a"));
+      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libosm2odr.a"));
+
     }
     bEnableExceptions = true;
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Online/CustomFileDownloader.cpp

@@ -0,0 +1,128 @@
+// 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>.
+
+#undef CreateDirectory
+
+#include "Online/CustomFileDownloader.h"
+#include "HttpModule.h"
+#include "Http.h"
+#include "Misc/FileHelper.h"
+
+#include <OSM2ODR.h>
+
+void UCustomFileDownloader::ConvertOSMInOpenDrive(FString FilePath)
+{
+  IPlatformFile &FileManager = FPlatformFileManager::Get().GetPlatformFile();
+
+  FString FileContent;
+  // Always first check if the file that you want to manipulate exist.
+  if (FileManager.FileExists(*FilePath))
+  {
+    // We use the LoadFileToString to load the file into
+    if (FFileHelper::LoadFileToString(FileContent, *FilePath, FFileHelper::EHashOptions::None))
+    {
+      UE_LOG(LogCarla, Warning, TEXT("FileManipulation: Text From File: %s"), *FilePath);
+    }
+    else
+    {
+      UE_LOG(LogCarla, Warning, TEXT("FileManipulation: Did not load text from file"));
+    }
+  }
+  else
+  {
+    UE_LOG(LogCarla, Warning, TEXT("File: %s does not exist"), *FilePath);
+    return;
+  }
+
+  std::string OsmFile = std::string(TCHAR_TO_UTF8(*FileContent));
+  std::string OpenDriveFile = osm2odr::ConvertOSMToOpenDRIVE(OsmFile);
+
+  FilePath.RemoveFromEnd(".osm", ESearchCase::Type::IgnoreCase);
+  FilePath += ".xodr";
+
+  UE_LOG(LogCarla, Warning, TEXT("File: %s does not exist"), *FilePath);
+
+  // We use the LoadFileToString to load the file into
+  if (FFileHelper::SaveStringToFile(FString(OpenDriveFile.c_str()), *FilePath))
+  {
+    UE_LOG(LogCarla, Warning, TEXT("FileManipulation: Sucsesfuly Written: \"%s\" to the text file"), *FilePath);
+  }
+  else
+  {
+    UE_LOG(LogCarla, Warning, TEXT("FileManipulation: Failed to write FString to file."));
+  }
+}
+
+void UCustomFileDownloader::StartDownload()
+{
+  UE_LOG(LogCarla, Log, TEXT("FHttpDownloader CREATED"));
+  FHttpDownloader *Download = new FHttpDownloader("GET", Url, ResultFileName, DownloadDelegate);
+  Download->Run();
+}
+
+FHttpDownloader::FHttpDownloader(const FString &InVerb, const FString &InUrl, const FString &InFilename, FDownloadComplete &Delegate)
+    : Verb(InVerb), Url(InUrl), Filename(InFilename), DelegateToCall(Delegate)
+{
+}
+
+void FHttpDownloader::Run(void)
+{
+  UE_LOG(LogCarla, Log, TEXT("Starting download [%s] Url=[%s]"), *Verb, *Url);
+  TSharedPtr<IHttpRequest, ESPMode::ThreadSafe> Request = FHttpModule::Get().CreateRequest();
+  Request->OnProcessRequestComplete().BindRaw(this, &FHttpDownloader::RequestComplete);
+  Request->SetURL(Url);
+  Request->SetVerb(Verb);
+  Request->ProcessRequest();
+}
+
+void FHttpDownloader::RequestComplete(FHttpRequestPtr HttpRequest, FHttpResponsePtr HttpResponse, bool bSucceeded)
+{
+  if (!HttpResponse.IsValid())
+  {
+    UE_LOG(LogCarla, Log, TEXT("Download failed. NULL response"));
+  }
+  else
+  {
+    // If we do not get success responses codes we do not do anything
+    if (HttpResponse->GetResponseCode() < 200 || 300 <= HttpResponse->GetResponseCode())
+    {
+      UE_LOG(LogCarla, Error, TEXT("Error during download [%s] Url=[%s] Response=[%d]"),
+             *HttpRequest->GetVerb(),
+             *HttpRequest->GetURL(),
+             HttpResponse->GetResponseCode());
+      delete this;
+      return;
+    }
+
+    UE_LOG(LogCarla, Log, TEXT("Completed download [%s] Url=[%s] Response=[%d]"),
+           *HttpRequest->GetVerb(),
+           *HttpRequest->GetURL(),
+           HttpResponse->GetResponseCode());
+
+    HttpRequest->OnProcessRequestComplete().Unbind();
+
+    FString CurrentFile = FPaths::ProjectContentDir() + "CustomMaps/" + Filename + "/";
+
+    // We will use this FileManager to deal with the file.
+    IPlatformFile &FileManager = FPlatformFileManager::Get().GetPlatformFile();
+    if (!FileManager.DirectoryExists(*CurrentFile))
+    {
+      FileManager.CreateDirectory(*CurrentFile);
+    }
+    CurrentFile += Filename + ".osm";
+
+    FString StringToWrite = HttpResponse->GetContentAsString();
+
+    // We use the LoadFileToString to load the file into
+    if (FFileHelper::SaveStringToFile(StringToWrite, *CurrentFile, FFileHelper::EEncodingOptions::ForceUTF8WithoutBOM))
+    {
+      UE_LOG(LogCarla, Warning, TEXT("FileManipulation: Sucsesfuly Written "));
+    }
+    else
+    {
+      UE_LOG(LogCarla, Warning, TEXT("FileManipulation: Failed to write FString to file."));
+    }
+  }
+  DelegateToCall.ExecuteIfBound();
+
+  delete this;
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Online/CustomFileDownloader.h

@@ -0,0 +1,63 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB). This work is licensed under the terms of the MIT license. For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "Interfaces/IHttpRequest.h"
+#include "CustomFileDownloader.generated.h"
+/**
+ * 
+ */
+
+DECLARE_DELEGATE(FDownloadComplete)
+
+UCLASS(Blueprintable)
+class CARLA_API UCustomFileDownloader : public UObject
+{
+  GENERATED_BODY()
+public:	
+  UFUNCTION(BlueprintCallable)
+  void StartDownload();
+  UFUNCTION(BlueprintCallable)
+  void ConvertOSMInOpenDrive(FString FilePath); 
+
+  FString ResultFileName;
+
+  FString Url;
+
+  FDownloadComplete DownloadDelegate;
+
+private:
+  void RequestComplete(FHttpRequestPtr HttpRequest, FHttpResponsePtr HttpResponse, bool bSucceeded);
+
+  FString Payload;
+};
+
+class FHttpDownloader
+{
+public:
+  /**
+   *
+   * @param Verb - verb to use for request (GET,POST,DELETE,etc)
+   * @param Url - url address to connect to
+   */
+  FHttpDownloader( const FString& InVerb, const FString& InUrl, const FString& InFilename, FDownloadComplete& Delegate );  
+
+  // Kick off the Http request  and wait for delegate to be called
+  void Run(void);  
+
+  /**
+   * Delegate called when the request completes
+   *
+   * @param HttpRequest - object that started/processed the request
+   * @param HttpResponse - optional response object if request completed
+   * @param bSucceeded - true if Url connection was made and response was received
+   */
+  void RequestComplete(FHttpRequestPtr HttpRequest, FHttpResponsePtr HttpResponse, bool bSucceeded);
+
+private:
+  FString Verb;
+  FString Url;
+  FString Filename;
+  FDownloadComplete DelegateToCall;
+};

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettingsDelegate.cpp

@@ -3,7 +3,7 @@
 
 #include "Carla/Game/CarlaGameInstance.h"
 #include "Carla/Settings/CarlaSettings.h"
-
+#include "Carla/Game/CarlaGameInstance.h"
 #include "Async.h"
 #include "Components/StaticMeshComponent.h"
 #include "Engine/DirectionalLight.h"

Unreal/CarlaUE4/Plugins/CarlaTools/CarlaTools.uplugin

@@ -33,6 +33,10 @@
 		{
 			"Name": "PhysXVehicles",
 			"Enabled": true
+		},
+		{
+			"Name": "ProceduralMeshComponent",
+			"Enabled": true
 		}
 	]
 }

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

@@ -39,7 +39,11 @@ public class CarlaTools : ModuleRules
 		PublicDependencyModuleNames.AddRange(
 			new string[]
 			{
-				"Core"
+        "Core",
+        "ProceduralMeshComponent",
+        "MeshDescription",
+        "RawMesh",
+        "AssetTools"
 				// ... add other public dependencies that you statically link with here ...
 			}
 			);

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

@@ -0,0 +1,504 @@
+// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB). This work is licensed under the terms of the MIT license. For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "OpenDriveToMap.h"
+#include "Components/Button.h"
+#include "DesktopPlatform/Public/IDesktopPlatform.h"
+#include "DesktopPlatform/Public/DesktopPlatformModule.h"
+#include "Misc/FileHelper.h"
+#include "Runtime/Core/Public/Async/ParallelFor.h"
+
+#include "Carla/Game/CarlaStatics.h"
+#include "Traffic/TrafficLightManager.h"
+#include "Online/CustomFileDownloader.h"
+#include "Util/ProceduralCustomMesh.h"
+
+#include "OpenDrive/OpenDriveGenerator.h"
+
+#include <compiler/disable-ue4-macros.h>
+#include <carla/opendrive/OpenDriveParser.h>
+#include <carla/road/Map.h>
+#include <carla/rpc/String.h>
+#include <OSM2ODR.h>
+#include <compiler/enable-ue4-macros.h>
+
+#include "Engine/Classes/Interfaces/Interface_CollisionDataProvider.h"
+#include "PhysicsCore/Public/BodySetupEnums.h"
+#include "RawMesh.h"
+#include "AssetRegistryModule.h"
+#include "Engine/StaticMesh.h"
+#include "Engine/StaticMeshActor.h"
+#include "MeshDescription.h"
+#include "ProceduralMeshConversion.h"
+
+FString LaneTypeToFString(carla::road::Lane::LaneType LaneType)
+{
+  switch (LaneType)
+  {
+  case carla::road::Lane::LaneType::Driving:
+    return FString("Driving");
+    break;
+  case carla::road::Lane::LaneType::Stop:
+    return FString("Stop");
+    break;
+  case carla::road::Lane::LaneType::Shoulder:
+    return FString("Shoulder");
+    break;
+  case carla::road::Lane::LaneType::Biking:
+    return FString("Biking");
+    break;
+  case carla::road::Lane::LaneType::Sidewalk:
+    return FString("Sidewalk");
+    break;
+  case carla::road::Lane::LaneType::Border:
+    return FString("Border");
+    break;
+  case carla::road::Lane::LaneType::Restricted:
+    return FString("Restricted");
+    break;
+  case carla::road::Lane::LaneType::Parking:
+    return FString("Parking");
+    break;
+  case carla::road::Lane::LaneType::Bidirectional:
+    return FString("Bidirectional");
+    break;
+  case carla::road::Lane::LaneType::Median:
+    return FString("Median");
+    break;
+  case carla::road::Lane::LaneType::Special1:
+    return FString("Special1");
+    break;
+  case carla::road::Lane::LaneType::Special2:
+    return FString("Special2");
+    break;
+  case carla::road::Lane::LaneType::Special3:
+    return FString("Special3");
+    break;
+  case carla::road::Lane::LaneType::RoadWorks:
+    return FString("RoadWorks");
+    break;
+  case carla::road::Lane::LaneType::Tram:
+    return FString("Tram");
+    break;
+  case carla::road::Lane::LaneType::Rail:
+    return FString("Rail");
+    break;
+  case carla::road::Lane::LaneType::Entry:
+    return FString("Entry");
+    break;
+  case carla::road::Lane::LaneType::Exit:
+    return FString("Exit");
+    break;
+  case carla::road::Lane::LaneType::OffRamp:
+    return FString("OffRamp");
+    break;
+  case carla::road::Lane::LaneType::OnRamp:
+    return FString("OnRamp");
+    break;
+  case carla::road::Lane::LaneType::Any:
+    return FString("Any");
+    break;
+  }
+
+  return FString("Empty");
+}
+
+void UOpenDriveToMap::ConvertOSMInOpenDrive()
+{
+  FilePath = FPaths::ProjectContentDir() + "CustomMaps/" + MapName + "/" + MapName + ".osm";
+  FileDownloader->ConvertOSMInOpenDrive( FilePath );
+  FilePath.RemoveFromEnd(".osm", ESearchCase::Type::IgnoreCase);
+  FilePath += ".xodr";
+
+  LoadMap();
+}
+
+void UOpenDriveToMap::NativeConstruct()
+{
+  if( !IsValid(FileDownloader) ){
+    FileDownloader = NewObject<UCustomFileDownloader>();
+  }
+}
+
+void UOpenDriveToMap::NativeDestruct()
+{
+  Super::NativeDestruct();
+  if( IsValid(FileDownloader) ){
+    // UObjects are not being destroyed, they are collected by GarbageCollector
+    // Should we force garbage collection here?
+  }
+}
+
+void UOpenDriveToMap::CreateMap()
+{
+  if( MapName.IsEmpty() )
+  {
+    UE_LOG(LogCarlaToolsMapGenerator, Error, TEXT("Map Name Is Empty") );
+    return;
+  }
+  if ( !IsValid(FileDownloader) ) 
+  {
+    FileDownloader = NewObject<UCustomFileDownloader>();
+  }
+  FileDownloader->ResultFileName = MapName;
+  FileDownloader->Url = Url;
+  FileDownloader->DownloadDelegate.BindUObject( this, &UOpenDriveToMap::ConvertOSMInOpenDrive );
+  FileDownloader->StartDownload();
+
+  RoadType.Empty();
+  RoadMesh.Empty();
+  MeshesToSpawn.Empty();
+  ActorMeshList.Empty();
+}
+
+void UOpenDriveToMap::OpenFileDialog()
+{
+  TArray<FString> OutFileNames;
+  void* ParentWindowPtr = FSlateApplication::Get().GetActiveTopLevelWindow()->GetNativeWindow()->GetOSWindowHandle();
+  IDesktopPlatform* DesktopPlatform = FDesktopPlatformModule::Get();
+  if (DesktopPlatform)
+  {
+    DesktopPlatform->OpenFileDialog(ParentWindowPtr, "Select xodr file", FPaths::ProjectDir(), FString(""), ".xodr", 1, OutFileNames);
+  }
+  for(FString& CurrentString : OutFileNames)
+  {
+    FilePath = CurrentString;
+    UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT("FileObtained %s"), *CurrentString );
+  }
+}
+
+void UOpenDriveToMap::LoadMap()
+{
+  FString FileContent;
+  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);
+
+  if (!CarlaMap.has_value()) 
+  {
+    UE_LOG(LogCarlaToolsMapGenerator, Error, TEXT("Invalid Map"));
+  }else
+  {
+    UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT("Valid Map loaded"));
+  }
+  MapName = FPaths::GetCleanFilename(FilePath);
+  MapName.RemoveFromEnd(".xodr", ESearchCase::Type::IgnoreCase);
+  UE_LOG(LogCarlaToolsMapGenerator, Warning, TEXT("MapName %s"), *MapName);
+
+  GenerateAll(CarlaMap);
+}
+
+void UOpenDriveToMap::GenerateAll(const boost::optional<carla::road::Map>& CarlaMap )
+{
+  if (!CarlaMap.has_value()) 
+  {
+    UE_LOG(LogCarlaToolsMapGenerator, Error, TEXT("Invalid Map"));
+  }else
+  {
+    GenerateRoadMesh(CarlaMap);
+    GenerateSpawnPoints(CarlaMap);
+  }
+}
+
+void UOpenDriveToMap::GenerateRoadMesh( const boost::optional<carla::road::Map>& CarlaMap )
+{
+  opg_parameters.vertex_distance = 0.5f;
+  opg_parameters.vertex_width_resolution = 8.0f;
+  opg_parameters.simplification_percentage = 15.0f;
+
+  double start = FPlatformTime::Seconds();
+  const auto Meshes = CarlaMap->GenerateOrderedChunkedMesh(opg_parameters);
+  double end = FPlatformTime::Seconds();
+  UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT(" GenerateOrderedChunkedMesh code executed in %f seconds. Simplification percentage is %f"), end - start, opg_parameters.simplification_percentage);
+
+  start = FPlatformTime::Seconds();
+  for (const auto &PairMap : Meshes) 
+  {
+    for( const auto &Mesh : PairMap.second )
+    {
+      if (!Mesh->GetVertices().size())
+      {
+        continue;
+      }
+      if (!Mesh->IsValid()) {
+        continue;
+      }
+
+      AProceduralMeshActor* TempActor = GetWorld()->SpawnActor<AProceduralMeshActor>();
+      UProceduralMeshComponent *TempPMC = TempActor->MeshComponent;
+      TempPMC->bUseAsyncCooking = true;
+      TempPMC->bUseComplexAsSimpleCollision = true;
+      TempPMC->SetCollisionEnabled(ECollisionEnabled::QueryAndPhysics);
+
+      const FProceduralCustomMesh MeshData = *Mesh;
+      TempPMC->CreateMeshSection_LinearColor(
+          0,
+          MeshData.Vertices,
+          MeshData.Triangles,
+          MeshData.Normals,
+          TArray<FVector2D>(), // UV0
+          TArray<FLinearColor>(), // VertexColor
+          TArray<FProcMeshTangent>(), // Tangents
+          true); // Create collision
+      ActorMeshList.Add(TempActor);
+
+      RoadType.Add(LaneTypeToFString(PairMap.first));
+      RoadMesh.Add(TempPMC);
+    }
+  }
+
+  end = FPlatformTime::Seconds();
+  UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT("Mesh spawnning and translation code executed in %f seconds."), end - start);
+}
+
+void UOpenDriveToMap::GenerateSpawnPoints( const boost::optional<carla::road::Map>& CarlaMap )
+{
+  float SpawnersHeight = 300.f;
+  const auto Waypoints = CarlaMap->GenerateWaypointsOnRoadEntries();
+  for (const auto &Wp : Waypoints)
+  {
+    const FTransform Trans = CarlaMap->ComputeTransform(Wp);
+    AVehicleSpawnPoint *Spawner = GetWorld()->SpawnActor<AVehicleSpawnPoint>();
+    Spawner->SetActorRotation(Trans.GetRotation());
+    Spawner->SetActorLocation(Trans.GetTranslation() + FVector(0.f, 0.f, SpawnersHeight));
+  }
+}
+
+UStaticMesh* UOpenDriveToMap::CreateStaticMeshAsset( UProceduralMeshComponent* ProcMeshComp, int32 MeshIndex, FString FolderName )
+{
+  FMeshDescription MeshDescription = BuildMeshDescription(ProcMeshComp);
+
+  IPlatformFile& PlatformFile = FPlatformFileManager::Get().GetPlatformFile();
+
+  // If we got some valid data.
+  if (MeshDescription.Polygons().Num() > 0)
+  {
+    FString MeshName = *(FolderName + FString::FromInt(MeshIndex) );
+    FString PackageName = "/Game/CustomMaps/" + MapName + "/Static/" + FolderName + "/" + MeshName;
+
+    if( !PlatformFile.DirectoryExists(*PackageName) )
+    {
+      PlatformFile.CreateDirectory(*PackageName);
+    }
+
+    // Then find/create it.
+    UPackage* Package = CreatePackage(*PackageName);
+    check(Package);
+    // Create StaticMesh object
+    UStaticMesh* StaticMesh = NewObject<UStaticMesh>(Package, *MeshName, RF_Public | RF_Standalone);
+    StaticMesh->InitResources();
+
+    StaticMesh->LightingGuid = FGuid::NewGuid();
+
+    // Add source to new StaticMesh
+    FStaticMeshSourceModel& SrcModel = StaticMesh->AddSourceModel();
+    SrcModel.BuildSettings.bRecomputeNormals = false;
+    SrcModel.BuildSettings.bRecomputeTangents = false;
+    SrcModel.BuildSettings.bRemoveDegenerates = false;
+    SrcModel.BuildSettings.bUseHighPrecisionTangentBasis = false;
+    SrcModel.BuildSettings.bUseFullPrecisionUVs = false;
+    SrcModel.BuildSettings.bGenerateLightmapUVs = true;
+    SrcModel.BuildSettings.SrcLightmapIndex = 0;
+    SrcModel.BuildSettings.DstLightmapIndex = 1;
+    StaticMesh->CreateMeshDescription(0, MoveTemp(MeshDescription));
+    StaticMesh->CommitMeshDescription(0);
+
+    //// SIMPLE COLLISION
+    if (!ProcMeshComp->bUseComplexAsSimpleCollision )
+    {
+      StaticMesh->CreateBodySetup();
+      UBodySetup* NewBodySetup = StaticMesh->BodySetup;
+      NewBodySetup->BodySetupGuid = FGuid::NewGuid();
+      NewBodySetup->AggGeom.ConvexElems = ProcMeshComp->ProcMeshBodySetup->AggGeom.ConvexElems;
+      NewBodySetup->bGenerateMirroredCollision = false;
+      NewBodySetup->bDoubleSidedGeometry = true;
+      NewBodySetup->CollisionTraceFlag = CTF_UseDefault;
+      NewBodySetup->CreatePhysicsMeshes();
+    }
+
+    //// MATERIALS
+    TSet<UMaterialInterface*> UniqueMaterials;
+    const int32 NumSections = ProcMeshComp->GetNumSections();
+    for (int32 SectionIdx = 0; SectionIdx < NumSections; SectionIdx++)
+    {
+      FProcMeshSection *ProcSection =
+        ProcMeshComp->GetProcMeshSection(SectionIdx);
+      UMaterialInterface *Material = ProcMeshComp->GetMaterial(SectionIdx);
+      UniqueMaterials.Add(Material);
+    }
+    // Copy materials to new mesh
+    for (auto* Material : UniqueMaterials)
+    {
+      StaticMesh->StaticMaterials.Add(FStaticMaterial(Material));
+    }
+
+    //Set the Imported version before calling the build
+    StaticMesh->ImportVersion = EImportStaticMeshVersion::LastVersion;
+    StaticMesh->Build(false);
+    StaticMesh->PostEditChange();
+
+    // Notify asset registry of new asset
+    FAssetRegistryModule::AssetCreated(StaticMesh);
+    UPackage::SavePackage(Package, StaticMesh, EObjectFlags::RF_Public | EObjectFlags::RF_Standalone, *MeshName, GError, nullptr, true, true, SAVE_NoError);
+    return StaticMesh;
+  }
+  return nullptr;
+}
+
+TArray<UStaticMesh*> UOpenDriveToMap::CreateStaticMeshAssets()
+{
+  double start = FPlatformTime::Seconds();
+  double end = FPlatformTime::Seconds();
+
+  IPlatformFile& PlatformFile = FPlatformFileManager::Get().GetPlatformFile();
+
+  TArray<UStaticMesh*> StaticMeshes;
+
+  double BuildMeshDescriptionTime = 0.0f;
+  double PackgaesCreatingTime = 0.0f;
+  double MeshInitTime = 0.0f;
+  double MatAndCollInitTime = 0.0f;
+  double MeshBuildTime = 0.0f;
+  double PackSaveTime = 0.0f;
+
+
+  for (int i = 0; i < RoadMesh.Num(); ++i)
+  {
+    FString MeshName = RoadType[i] + FString::FromInt(i);
+    FString PackageName = "/Game/CustomMaps/" + MapName + "/Static/" + RoadType[i] + "/" + MeshName;
+
+    if (!PlatformFile.DirectoryExists(*PackageName))
+    {
+      PlatformFile.CreateDirectory(*PackageName);
+    }
+
+    UProceduralMeshComponent* ProcMeshComp = RoadMesh[i];
+    start = FPlatformTime::Seconds();
+    FMeshDescription MeshDescription = BuildMeshDescription(ProcMeshComp);
+    end = FPlatformTime::Seconds();
+    BuildMeshDescriptionTime += end - start;
+    // If we got some valid data.
+    if (MeshDescription.Polygons().Num() > 0)
+    {
+      start = FPlatformTime::Seconds();
+      // Then find/create it.
+      UPackage* Package = CreatePackage(*PackageName);
+      check(Package);
+      end = FPlatformTime::Seconds();
+      PackgaesCreatingTime += end - start;
+
+      start = FPlatformTime::Seconds();
+
+      // Create StaticMesh object
+      UStaticMesh* CurrentStaticMesh = NewObject<UStaticMesh>(Package, *MeshName, RF_Public | RF_Standalone);
+      CurrentStaticMesh->InitResources();
+
+      CurrentStaticMesh->LightingGuid = FGuid::NewGuid();
+
+      // Add source to new StaticMesh
+      FStaticMeshSourceModel& SrcModel = CurrentStaticMesh->AddSourceModel();
+      SrcModel.BuildSettings.bRecomputeNormals = false;
+      SrcModel.BuildSettings.bRecomputeTangents = false;
+      SrcModel.BuildSettings.bRemoveDegenerates = false;
+      SrcModel.BuildSettings.bUseHighPrecisionTangentBasis = false;
+      SrcModel.BuildSettings.bUseFullPrecisionUVs = false;
+      SrcModel.BuildSettings.bGenerateLightmapUVs = true;
+      SrcModel.BuildSettings.SrcLightmapIndex = 0;
+      SrcModel.BuildSettings.DstLightmapIndex = 1;
+      CurrentStaticMesh->CreateMeshDescription(0, MoveTemp(MeshDescription));
+      CurrentStaticMesh->CommitMeshDescription(0);
+
+      end = FPlatformTime::Seconds();
+      MeshInitTime += end - start;
+      start = FPlatformTime::Seconds();
+
+      //// SIMPLE COLLISION
+      if (!ProcMeshComp->bUseComplexAsSimpleCollision)
+      {
+        CurrentStaticMesh->CreateBodySetup();
+        UBodySetup* NewBodySetup = CurrentStaticMesh->BodySetup;
+        NewBodySetup->BodySetupGuid = FGuid::NewGuid();
+        NewBodySetup->AggGeom.ConvexElems = ProcMeshComp->ProcMeshBodySetup->AggGeom.ConvexElems;
+        NewBodySetup->bGenerateMirroredCollision = false;
+        NewBodySetup->bDoubleSidedGeometry = true;
+        NewBodySetup->CollisionTraceFlag = CTF_UseDefault;
+        NewBodySetup->CreatePhysicsMeshes();
+      }
+
+      //// MATERIALS
+      TSet<UMaterialInterface*> UniqueMaterials;
+      const int32 NumSections = ProcMeshComp->GetNumSections();
+      for (int32 SectionIdx = 0; SectionIdx < NumSections; SectionIdx++)
+      {
+        FProcMeshSection* ProcSection =
+          ProcMeshComp->GetProcMeshSection(SectionIdx);
+        UMaterialInterface* Material = ProcMeshComp->GetMaterial(SectionIdx);
+        UniqueMaterials.Add(Material);
+      }
+      // Copy materials to new mesh
+      for (auto* Material : UniqueMaterials)
+      {
+        CurrentStaticMesh->StaticMaterials.Add(FStaticMaterial(Material));
+      }
+
+      end = FPlatformTime::Seconds();
+      MatAndCollInitTime += end - start;
+      start = FPlatformTime::Seconds();
+      //Set the Imported version before calling the build
+      CurrentStaticMesh->ImportVersion = EImportStaticMeshVersion::LastVersion;
+      CurrentStaticMesh->Build(false);
+      CurrentStaticMesh->PostEditChange();
+
+      end = FPlatformTime::Seconds();
+      MeshBuildTime += end - start;
+      start = FPlatformTime::Seconds();
+
+      FString MeshName = *(RoadType[i] + FString::FromInt(i));
+      // Notify asset registry of new asset
+      FAssetRegistryModule::AssetCreated(CurrentStaticMesh);
+      UPackage::SavePackage(Package, CurrentStaticMesh, EObjectFlags::RF_Public | EObjectFlags::RF_Standalone, *MeshName, GError, nullptr, true, true, SAVE_NoError);
+
+      end = FPlatformTime::Seconds();
+      PackSaveTime += end - start;
+
+
+      StaticMeshes.Add( CurrentStaticMesh );
+    }
+  }
+  UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT(" UOpenDriveToMap::CreateStaticMeshAssets total time in BuildMeshDescriptionTime %f. Time per mesh %f"), BuildMeshDescriptionTime, BuildMeshDescriptionTime/ RoadMesh.Num());
+  UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT(" UOpenDriveToMap::CreateStaticMeshAssets total time in PackgaesCreatingTime %f. Time per mesh %f"), PackgaesCreatingTime, PackgaesCreatingTime / RoadMesh.Num());
+  UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT(" UOpenDriveToMap::CreateStaticMeshAssets total time in MeshInitTime %f. Time per mesh %f"), MeshInitTime, MeshInitTime / RoadMesh.Num());
+  UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT(" UOpenDriveToMap::CreateStaticMeshAssets total time in MatAndCollInitTime %f. Time per mesh %f"), MatAndCollInitTime, MatAndCollInitTime / RoadMesh.Num());
+  UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT(" UOpenDriveToMap::CreateStaticMeshAssets total time in MeshBuildTime %f. Time per mesh %f"), MeshBuildTime, MeshBuildTime / RoadMesh.Num());
+  UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT(" UOpenDriveToMap::CreateStaticMeshAssets total time in PackSaveTime %f. Time per mesh %f"), PackSaveTime, PackSaveTime / RoadMesh.Num());
+  return StaticMeshes;
+}
+
+void UOpenDriveToMap::SaveMap()
+{
+  double start = FPlatformTime::Seconds();
+
+  MeshesToSpawn = CreateStaticMeshAssets();
+
+  double end = FPlatformTime::Seconds();
+  UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT(" Meshes created static mesh code executed in %f seconds."), end - start);
+
+  for (auto CurrentActor : ActorMeshList)
+  {
+    CurrentActor->Destroy();
+  }
+
+  start = FPlatformTime::Seconds();
+
+  for (auto CurrentMesh : MeshesToSpawn)
+  {
+    AStaticMeshActor* TempActor = GetWorld()->SpawnActor<AStaticMeshActor>();
+    // Build mesh from source
+    TempActor->GetStaticMeshComponent()->SetStaticMesh(CurrentMesh);
+    TempActor->SetActorLabel(FString("SM_") + CurrentMesh->GetName());
+  }
+
+  end = FPlatformTime::Seconds();
+  UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT(" Spawning Static Meshes code executed in %f seconds."), end - start);
+
+}

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

@@ -0,0 +1,83 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB). This work is licensed under the terms of the MIT license. For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "Blueprint/UserWidget.h"
+#include "ProceduralMeshComponent.h"
+
+#include <compiler/disable-ue4-macros.h>
+#include <boost/optional.hpp>
+#include <carla/road/Map.h>
+#include <compiler/enable-ue4-macros.h>
+
+#include "OpenDriveToMap.generated.h"
+
+
+class UProceduralMeshComponent;
+class UCustomFileDownloader;
+/**
+ * 
+ */
+UCLASS()
+class CARLATOOLS_API UOpenDriveToMap : public UUserWidget
+{
+  GENERATED_BODY()
+
+public:
+
+  UFUNCTION()
+  void ConvertOSMInOpenDrive(); 
+
+  UPROPERTY( meta = (BindWidget) )
+  class UButton* StartButton;
+
+  UPROPERTY(meta = (BindWidget))
+  class UButton* SaveButton;
+
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category="File")
+  FString FilePath;
+
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category="File")
+  FString MapName;
+
+  UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="Settings" )
+  FString Url;
+
+protected:
+  virtual void NativeConstruct() override;
+  virtual void NativeDestruct() override;
+
+  UFUNCTION( BlueprintCallable )
+  void CreateMap();
+
+  UFUNCTION( BlueprintCallable )
+  void SaveMap();
+private:
+
+  UFUNCTION()
+  void OpenFileDialog();
+
+  UFUNCTION()
+  void LoadMap();
+
+  void GenerateAll(const boost::optional<carla::road::Map>& CarlaMap);
+  void GenerateRoadMesh(const boost::optional<carla::road::Map>& CarlaMap);
+  void GenerateSpawnPoints(const boost::optional<carla::road::Map>& CarlaMap);
+
+  carla::rpc::OpendriveGenerationParameters opg_parameters;
+
+  UStaticMesh* CreateStaticMeshAsset(UProceduralMeshComponent* ProcMeshComp, int32 MeshIndex, FString FolderName);
+  TArray<UStaticMesh*> CreateStaticMeshAssets();
+
+  UPROPERTY()
+  UCustomFileDownloader* FileDownloader;
+  UPROPERTY()
+  TArray<AActor*> ActorMeshList;
+  UPROPERTY()
+  TArray<UStaticMesh*> MeshesToSpawn;
+  UPROPERTY()
+  TArray<FString> RoadType;
+  UPROPERTY()
+  TArray<UProceduralMeshComponent*> RoadMesh;
+};

Util/BuildTools/BuildOSM2ODR.bat

@@ -69,6 +69,8 @@ rem
 set OSM2ODR_VSPROJECT_PATH=%INSTALLATION_DIR:/=\%osm2odr-visualstudio\
 set OSM2ODR_SOURCE_PATH=%INSTALLATION_DIR:/=\%om2odr-source\
 set OSM2ODR_INSTALL_PATH=%ROOT_PATH:/=\%PythonAPI\carla\dependencies\
+set OSM2ODR__SERVER_INSTALL_PATH=%ROOT_PATH:/=\%Unreal\CarlaUE4\Plugins\Carla\CarlaDependencies
+set CARLA_DEPENDENCIES_FOLDER=%ROOT_PATH:/=\%Unreal\CarlaUE4\Plugins\Carla\CarlaDependencies\
 
 if %REMOVE_INTERMEDIATE% == true (
     rem Remove directories
@@ -107,6 +109,9 @@ if %BUILD_OSM2ODR% == true (
 
     cmake --build . --config Release --target install | findstr /V "Up-to-date:"
     if %errorlevel% neq 0 goto error_install
+
+    copy %OSM2ODR_INSTALL_PATH%\lib\osm2odr.lib %CARLA_DEPENDENCIES_FOLDER%\lib
+    copy %OSM2ODR_INSTALL_PATH%\include\OSM2ODR.h %CARLA_DEPENDENCIES_FOLDER%\include
 )
 
 goto success

Util/BuildTools/BuildOSM2ODR.sh

@@ -105,6 +105,25 @@ if ${BUILD_OSM2ODR} ; then
   ninja osm2odr
   ninja install
 
+  mkdir -p ${OSM2ODR_SERVER_BUILD_FOLDER}
+  cd ${OSM2ODR_SERVER_BUILD_FOLDER}
+
+  LLVM_BASENAME=llvm-8.0
+  LLVM_INCLUDE="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/include/c++/v1"
+  LLVM_LIBPATH="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/lib/Linux/x86_64-unknown-linux-gnu"
+
+  cmake ${OSM2ODR_SOURCE_FOLDER} \
+      -G "Eclipse CDT4 - Ninja" \
+      -DCMAKE_CXX_FLAGS="-fPIC -std=c++14 -stdlib=libc++ -I${LLVM_INCLUDE} -L${LLVM_LIBPATH}" \
+      -DCMAKE_INSTALL_PREFIX=${LIBCARLA_INSTALL_SERVER_FOLDER} \
+      -DPROJ_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/proj-install-server/include \
+      -DPROJ_LIBRARY=${CARLA_BUILD_FOLDER}/proj-install-server/lib/libproj.a \
+      -DXercesC_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-install-server/include \
+      -DXercesC_LIBRARY=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-install-server/lib/libxerces-c.a
+
+  ninja osm2odr
+  ninja install
+
 fi
 
-log "Success!"
+log " OSM2ODR Success!"

Util/BuildTools/Linux.mk

@@ -3,7 +3,7 @@ default: help
 help:
 	@less ${CARLA_BUILD_TOOLS_FOLDER}/Linux.mk.help
 
-launch: LibCarla.server.release
+launch: LibCarla.server.release osm2odr
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --build --launch $(ARGS)
 
 launch-only:
@@ -79,7 +79,7 @@ examples:
 run-examples:
 	@for D in ${CARLA_EXAMPLES_FOLDER}/*; do [ -d "$${D}" ] && make -C $${D} run.only; done
 
-CarlaUE4Editor: LibCarla.server.release
+CarlaUE4Editor: LibCarla.server.release osm2odr
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --build $(ARGS)
 
 .PHONY: PythonAPI

Util/BuildTools/Setup.bat

@@ -190,15 +190,16 @@ echo %FILE_N% Installing Xercesc...
 call "%INSTALLERS_DIR%install_xercesc.bat"^
  --build-dir "%INSTALLATION_DIR%"
 copy %INSTALLATION_DIR%\xerces-c-3.2.3-install\lib\xerces-c_3.lib %CARLA_PYTHON_DEPENDENCIES%\lib
+copy %INSTALLATION_DIR%\xerces-c-3.2.3-install\lib\xerces-c_3.lib %CARLA_DEPENDENCIES_FOLDER%\lib
 
 rem ============================================================================
 rem -- Download and install Sqlite3 --------------------------------------------
 rem ============================================================================
-
 echo %FILE_N% Installing Sqlite3
 call "%INSTALLERS_DIR%install_sqlite3.bat"^
  --build-dir "%INSTALLATION_DIR%"
 copy %INSTALLATION_DIR%\sqlite3-install\lib\sqlite3.lib %CARLA_PYTHON_DEPENDENCIES%\lib
+copy %INSTALLATION_DIR%\sqlite3-install\lib\sqlite3.lib %CARLA_DEPENDENCIES_FOLDER%\lib
 
 rem ============================================================================
 rem -- Download and install PROJ --------------------------------------------
@@ -208,6 +209,7 @@ echo %FILE_N% Installing PROJ
 call "%INSTALLERS_DIR%install_proj.bat"^
  --build-dir "%INSTALLATION_DIR%"
 copy %INSTALLATION_DIR%\proj-install\lib\proj.lib %CARLA_PYTHON_DEPENDENCIES%\lib
+copy %INSTALLATION_DIR%\proj-install\lib\proj.lib %CARLA_DEPENDENCIES_FOLDER%\lib
 
 rem ============================================================================
 rem -- Download and install Eigen ----------------------------------------------

Util/BuildTools/Setup.sh

@@ -380,9 +380,11 @@ XERCESC_REPO=https://archive.apache.org/dist/xerces/c/3/sources/xerces-c-${XERCE
 
 XERCESC_SRC_DIR=${XERCESC_BASENAME}-source
 XERCESC_INSTALL_DIR=${XERCESC_BASENAME}-install
+XERCESC_INSTALL_SERVER_DIR=${XERCESC_BASENAME}-install-server
 XERCESC_LIB=${XERCESC_INSTALL_DIR}/lib/libxerces-c.a
+XERCESC_SERVER_LIB=${XERCESC_INSTALL_SERVER_DIR}/lib/libxerces-c.a
 
-if [[ -d ${XERCESC_INSTALL_DIR} ]] ; then
+if [[ -d ${XERCESC_INSTALL_DIR} &&  -d ${XERCESC_INSTALL_SERVER_DIR} ]] ; then
   log "Xerces-c already installed."
 else
   log "Retrieving xerces-c."
@@ -415,6 +417,23 @@ else
 
   popd >/dev/null
 
+  mkdir -p ${XERCESC_INSTALL_SERVER_DIR}
+
+  pushd ${XERCESC_SRC_DIR}/build >/dev/null
+
+  cmake -G "Ninja" \
+      -DCMAKE_CXX_FLAGS="-std=c++14 -stdlib=libc++ -fPIC -w -I${LLVM_INCLUDE} -L${LLVM_LIBPATH}" \
+      -DCMAKE_INSTALL_PREFIX="../../${XERCESC_INSTALL_SERVER_DIR}" \
+      -DCMAKE_BUILD_TYPE=Release \
+      -DBUILD_SHARED_LIBS=OFF \
+      -Dtranscoder=gnuiconv \
+      -Dnetwork=OFF \
+      ..
+  ninja
+  ninja install
+
+  popd >/dev/null
+
   rm -Rf ${XERCESC_BASENAME}.tar.gz
   rm -Rf ${XERCESC_SRC_DIR}
 fi
@@ -422,6 +441,9 @@ fi
 mkdir -p ${LIBCARLA_INSTALL_CLIENT_FOLDER}/lib/
 cp ${XERCESC_LIB} ${LIBCARLA_INSTALL_CLIENT_FOLDER}/lib/
 
+mkdir -p ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
+cp -p ${XERCESC_SERVER_LIB} ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
+
 # ==============================================================================
 # -- Get Eigen headers 3.1.0 (CARLA dependency) -------------------------------------
 # ==============================================================================
@@ -545,6 +567,7 @@ SQLITE_INSTALL_DIR=sqlite-install
 
 SQLITE_INCLUDE_DIR=${PWD}/${SQLITE_INSTALL_DIR}/include
 SQLITE_LIB=${PWD}/${SQLITE_INSTALL_DIR}/lib/libsqlite3.a
+SQLITE_FULL_LIB=${PWD}/${SQLITE_INSTALL_DIR}/lib/
 SQLITE_EXE=${PWD}/${SQLITE_INSTALL_DIR}/bin/sqlite3
 
 if [[ -d ${SQLITE_INSTALL_DIR} ]] ; then
@@ -561,7 +584,7 @@ else
 
   pushd ${SQLITE_SOURCE_DIR} >/dev/null
 
-  export CFLAGS="-fPIC"
+  export CFLAGS="-fPIC -w"
   ./configure --prefix=${PWD}/../sqlite-install/
   make
   make install
@@ -575,6 +598,9 @@ fi
 mkdir -p ${LIBCARLA_INSTALL_CLIENT_FOLDER}/lib/
 cp ${SQLITE_LIB} ${LIBCARLA_INSTALL_CLIENT_FOLDER}/lib/
 
+mkdir -p ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
+cp -p -r ${SQLITE_FULL_LIB} ${LIBCARLA_INSTALL_SERVER_FOLDER}
+
 # ==============================================================================
 # -- Get and compile PROJ ------------------------------------------------------
 # ==============================================================================
@@ -585,10 +611,13 @@ PROJ_REPO=https://download.osgeo.org/proj/${PROJ_VERSION}.tar.gz
 PROJ_TAR=${PROJ_VERSION}.tar.gz
 PROJ_SRC_DIR=proj-src
 PROJ_INSTALL_DIR=proj-install
+PROJ_INSTALL_SERVER_DIR=proj-install-server
 PROJ_INSTALL_DIR_FULL=${PWD}/${PROJ_INSTALL_DIR}
+PROJ_INSTALL_SERVER_DIR_FULL=${PWD}/${PROJ_INSTALL_SERVER_DIR}
 PROJ_LIB=${PROJ_INSTALL_DIR_FULL}/lib/libproj.a
+PROJ_SERVER_LIB=${PROJ_INSTALL_SERVER_DIR_FULL}/lib/libproj.a
 
-if [[ -d ${PROJ_INSTALL_DIR} ]] ; then
+if [[ -d ${PROJ_INSTALL_DIR} && -d ${PROJ_INSTALL_SERVER_DIR_FULL} ]] ; then
   log "PROJ already installed."
 else
   log "Retrieving PROJ"
@@ -598,8 +627,8 @@ else
   tar -xzf ${PROJ_TAR}
   mv ${PROJ_VERSION} ${PROJ_SRC_DIR}
 
-  mkdir ${PROJ_SRC_DIR}/build
+  mkdir -p ${PROJ_SRC_DIR}/build
-  mkdir ${PROJ_INSTALL_DIR}
+  mkdir -p ${PROJ_INSTALL_DIR}
 
   pushd ${PROJ_SRC_DIR}/build >/dev/null
 
@@ -617,6 +646,24 @@ else
 
   popd >/dev/null
 
+  mkdir -p ${PROJ_INSTALL_SERVER_DIR}
+
+  pushd ${PROJ_SRC_DIR}/build >/dev/null
+
+  cmake -G "Ninja" .. \
+      -DCMAKE_CXX_FLAGS="-std=c++14 -fPIC -stdlib=libc++ -I${LLVM_INCLUDE} -Wl,-L${LLVM_LIBPATH}"  \
+      -DSQLITE3_INCLUDE_DIR=${SQLITE_INCLUDE_DIR} -DSQLITE3_LIBRARY=${SQLITE_LIB} \
+      -DEXE_SQLITE3=${SQLITE_EXE} \
+      -DENABLE_TIFF=OFF -DENABLE_CURL=OFF -DBUILD_SHARED_LIBS=OFF -DBUILD_PROJSYNC=OFF \
+      -DCMAKE_BUILD_TYPE=Release -DBUILD_PROJINFO=OFF \
+      -DBUILD_CCT=OFF -DBUILD_CS2CS=OFF -DBUILD_GEOD=OFF -DBUILD_GIE=OFF \
+      -DBUILD_PROJ=OFF -DBUILD_TESTING=OFF \
+      -DCMAKE_INSTALL_PREFIX=${PROJ_INSTALL_SERVER_DIR_FULL}
+  ninja
+  ninja install
+
+  popd >/dev/null
+
   rm -Rf ${PROJ_TAR}
   rm -Rf ${PROJ_SRC_DIR}
 
@@ -624,6 +671,9 @@ fi
 
 cp ${PROJ_LIB} ${LIBCARLA_INSTALL_CLIENT_FOLDER}/lib/
 
+mkdir -p ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
+cp -p ${PROJ_SERVER_LIB} ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
+
 # ==============================================================================
 # -- Get and compile patchelf --------------------------------------------------
 # ==============================================================================

Util/BuildTools/Vars.mk

@@ -21,6 +21,7 @@ LIBCARLA_INSTALL_SERVER_FOLDER=${CARLAUE4_PLUGIN_ROOT_FOLDER}/CarlaDependencies
 LIBCARLA_INSTALL_CLIENT_FOLDER=${CARLA_PYTHONAPI_SOURCE_FOLDER}/dependencies
 
 OSM2ODR_BUILD_FOLDER=${CARLA_BUILD_FOLDER}/libosm2dr-build
+OSM2ODR_SERVER_BUILD_FOLDER=${CARLA_BUILD_FOLDER}/libosm2dr-build-server
 OSM2ODR_SOURCE_FOLDER=${CARLA_BUILD_FOLDER}/libosm2dr-source
 
 CARLAUE4_PLUGIN_DEPS_FOLDER=${CARLAUE4_PLUGIN_ROOT_FOLDER}/CarlaDependencies

Util/BuildTools/Windows.mk

@@ -16,7 +16,7 @@ help:
 import: server
 	@"${CARLA_BUILD_TOOLS_FOLDER}/Import.py" $(ARGS)
 
-CarlaUE4Editor: LibCarla
+CarlaUE4Editor: LibCarla osm2odr
 	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.bat" --build $(ARGS)
 
 launch: CarlaUE4Editor

Util/InstallersWin/install_zlib.bat

@@ -172,6 +172,7 @@ rem ============================================================================
 :good_exit
     echo %FILE_N% Exiting...
     rem A return value used for checking for errors
+    copy %ZLIB_INSTALL_DIR%\lib\zlibstatic.lib %CARLA_DEPENDENCIES_FOLDER%\lib
     endlocal & set install_zlib=%ZLIB_INSTALL_DIR%
     exit /b 0