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
This commit is contained in:
Blyron
GitHub
parent
7f5bb15731
commit
dcca826ade
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@ -9,6 +9,8 @@
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#include <string>
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#include <sstream>
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#include <ios>
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#include <iostream>
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#include <fstream>
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#include <carla/geom/Math.h>
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@ -266,6 +268,9 @@ namespace geom {
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return _indexes;
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}
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std::vector<Mesh::index_type>& Mesh::GetIndexes() {
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return _indexes;
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}
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size_t Mesh::GetIndexesNum() const {
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return _indexes.size();
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}
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@ -282,6 +287,62 @@ namespace geom {
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return _vertices.size();
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}
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Mesh& Mesh::ConcatMesh(const Mesh& rhs, int num_vertices_to_link) {
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if (!rhs.IsValid())
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{
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return *this += rhs;
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}
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const size_t v_num = GetVerticesNum();
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const size_t i_num = GetIndexesNum();
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_vertices.insert(
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_vertices.end(),
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rhs.GetVertices().begin(),
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rhs.GetVertices().end());
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_normals.insert(
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_normals.end(),
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rhs.GetNormals().begin(),
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rhs.GetNormals().end());
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const int vertex_to_start_concating = v_num - num_vertices_to_link;
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for( int i = 1; i < num_vertices_to_link; ++i )
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{
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_indexes.push_back( vertex_to_start_concating + i );
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_indexes.push_back( vertex_to_start_concating + i + 1 );
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_indexes.push_back( v_num + i );
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_indexes.push_back( vertex_to_start_concating + i + 1);
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_indexes.push_back( v_num + i + 1);
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_indexes.push_back( v_num + i);
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}
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std::transform(
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rhs.GetIndexes().begin(),
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rhs.GetIndexes().end(),
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std::back_inserter(_indexes),
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[=](size_t index) {return index + v_num; });
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_uvs.insert(
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_uvs.end(),
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rhs.GetUVs().begin(),
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rhs.GetUVs().end());
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std::transform(
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rhs.GetMaterials().begin(),
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rhs.GetMaterials().end(),
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std::back_inserter(_materials),
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[=](MeshMaterial mat) {
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mat.index_start += i_num;
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mat.index_end += i_num;
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return mat;
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});
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return *this;
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}
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Mesh &Mesh::operator+=(const Mesh &rhs) {
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const size_t v_num = GetVerticesNum();
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const size_t i_num = GetIndexesNum();
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@ -133,6 +133,8 @@ namespace geom {
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const std::vector<index_type>& GetIndexes() const;
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std::vector<index_type> &GetIndexes();
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size_t GetIndexesNum() const;
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const std::vector<uv_type> &GetUVs() const;
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@ -142,6 +144,9 @@ namespace geom {
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/// Returns the index of the last added vertex (number of vertices).
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size_t GetLastVertexIndex() const;
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/// Merges two meshes into a single mesh
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Mesh& ConcatMesh(const Mesh& rhs, int num_vertices_to_link);
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/// Merges two meshes into a single mesh
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Mesh &operator+=(const Mesh &rhs);
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@ -7,6 +7,7 @@
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#include "carla/road/Map.h"
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#include "carla/Exception.h"
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#include "carla/geom/Math.h"
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#include "carla/geom/Vector3D.h"
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#include "carla/road/MeshFactory.h"
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#include "carla/road/element/LaneCrossingCalculator.h"
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#include "carla/road/element/RoadInfoCrosswalk.h"
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@ -17,6 +18,8 @@
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#include "carla/road/element/RoadInfoMarkRecord.h"
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#include "carla/road/element/RoadInfoSignal.h"
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#include "simplify/Simplify.h"
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#include <vector>
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#include <unordered_map>
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#include <stdexcept>
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@ -1040,6 +1043,7 @@ namespace road {
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return out_mesh;
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}
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std::vector<std::unique_ptr<geom::Mesh>> Map::GenerateChunkedMesh(
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const rpc::OpendriveGenerationParameters& params) const {
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geom::MeshFactory mesh_factory(params);
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@ -1124,6 +1128,161 @@ namespace road {
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return result;
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}
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std::map<road::Lane::LaneType , std::vector<std::unique_ptr<geom::Mesh>>>
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Map::GenerateOrderedChunkedMesh( const rpc::OpendriveGenerationParameters& params) const
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{
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geom::MeshFactory mesh_factory(params);
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std::map<road::Lane::LaneType , std::vector<std::unique_ptr<geom::Mesh>>> out_mesh_list;
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std::unordered_map<JuncId, geom::Mesh> junction_map;
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float simplificationrate = params.simplification_percentage * 0.01f;
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for (auto &&pair : _data.GetRoads())
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{
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const auto &road = pair.second;
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if (!road.IsJunction()) {
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mesh_factory.GenerateAllOrderedWithMaxLen(road, out_mesh_list);
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}
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}
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for (auto& current_mesh_vector : out_mesh_list)
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{
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if (current_mesh_vector.first != road::Lane::LaneType::Driving)
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{
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continue;
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}
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for (std::unique_ptr<geom::Mesh>& current_mesh : current_mesh_vector.second)
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{
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if (!current_mesh->IsValid())
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{
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continue;
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}
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for (carla::geom::Vector3D& current_vertex : current_mesh->GetVertices())
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{
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current_vertex.z = GetZPosInDeformation(current_vertex.x, current_vertex.y);
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}
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for (carla::geom::Vector3D& current_vertex : current_mesh->GetVertices())
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{
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Simplify::Vertex v;
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v.p.x = current_vertex.x;
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v.p.y = current_vertex.y;
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v.p.z = current_vertex.z;
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Simplify::vertices.push_back(v);
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}
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for (int i = 0; i < current_mesh->GetIndexes().size() - 2; i += 3)
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{
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Simplify::Triangle t;
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t.material = 0;
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auto indices = current_mesh->GetIndexes();
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t.v[0] = (indices[i]) - 1;
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t.v[1] = (indices[i + 1]) - 1;
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t.v[2] = (indices[i + 2]) - 1;
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if (i >= current_mesh->GetIndexes().size()) {
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std::cout << "Not right number of Indexes Index: " << i << " Indices size: " << current_mesh->GetIndexes().size() << std::endl;
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}
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Simplify::triangles.push_back(t);
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}
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// Reduce to the X% of the polys
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float target_size = Simplify::triangles.size();
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Simplify::simplify_mesh( (target_size * simplificationrate) );
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current_mesh->GetVertices().clear();
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current_mesh->GetIndexes().clear();
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for (Simplify::Vertex& current_vertex : Simplify::vertices)
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{
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carla::geom::Vector3D v;
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v.x = current_vertex.p.x;
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v.y = current_vertex.p.y;
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v.z = current_vertex.p.z;
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current_mesh->AddVertex(v);
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}
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for (int i = 0; i < Simplify::triangles.size(); ++i)
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{
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for (int j = 0; j < 3; ++j) {
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current_mesh->GetIndexes().push_back((Simplify::triangles[i].v[j]) + 1);
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}
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}
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Simplify::vertices.clear();
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Simplify::triangles.clear();
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}
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}
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// Generate roads within junctions and smooth them
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for (const auto &junc_pair : _data.GetJunctions()) {
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const auto &junction = junc_pair.second;
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std::vector<std::unique_ptr<geom::Mesh>> lane_meshes;
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std::vector<std::unique_ptr<geom::Mesh>> sidewalk_lane_meshes;
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for(const auto &connection_pair : junction.GetConnections()) {
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const auto &connection = connection_pair.second;
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const auto &road = _data.GetRoads().at(connection.connecting_road);
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for (auto &&lane_section : road.GetLaneSections()) {
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for (auto &&lane_pair : lane_section.GetLanes()) {
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const auto &lane = lane_pair.second;
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if (lane.GetType() != road::Lane::LaneType::Sidewalk) {
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lane_meshes.push_back(mesh_factory.Generate(lane));
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} else {
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sidewalk_lane_meshes.push_back(mesh_factory.Generate(lane));
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}
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}
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}
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}
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if(params.smooth_junctions) {
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std::unique_ptr<geom::Mesh> merged_mesh = mesh_factory.MergeAndSmooth(lane_meshes);
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std::unique_ptr<geom::Mesh> sidewalk_mesh = std::make_unique<geom::Mesh>();
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for(auto& lane : sidewalk_lane_meshes) {
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*sidewalk_mesh += *lane;
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}
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for (carla::geom::Vector3D& current_vertex : merged_mesh->GetVertices())
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{
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current_vertex.z = GetZPosInDeformation(current_vertex.x, current_vertex.y);
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}
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for (carla::geom::Vector3D& current_vertex : sidewalk_mesh->GetVertices())
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{
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current_vertex.z = GetZPosInDeformation(current_vertex.x, current_vertex.y);
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}
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out_mesh_list[road::Lane::LaneType::Driving].push_back(std::move(merged_mesh));
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out_mesh_list[road::Lane::LaneType::Sidewalk].push_back(std::move(sidewalk_mesh));
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} else {
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std::unique_ptr<geom::Mesh> junction_mesh = std::make_unique<geom::Mesh>();
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std::unique_ptr<geom::Mesh> sidewalk_mesh = std::make_unique<geom::Mesh>();
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for(auto& lane : lane_meshes) {
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*junction_mesh += *lane;
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}
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for(auto& lane : sidewalk_lane_meshes) {
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*sidewalk_mesh += *lane;
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}
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for (carla::geom::Vector3D& current_vertex : junction_mesh->GetVertices())
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{
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current_vertex.z = GetZPosInDeformation(current_vertex.x, current_vertex.y);
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}
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for (carla::geom::Vector3D& current_vertex : sidewalk_mesh->GetVertices())
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{
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current_vertex.z = GetZPosInDeformation(current_vertex.x, current_vertex.y);
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}
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out_mesh_list[road::Lane::LaneType::Driving].push_back(std::move(junction_mesh));
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out_mesh_list[road::Lane::LaneType::Sidewalk].push_back(std::move(sidewalk_mesh));
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}
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}
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return out_mesh_list;
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}
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geom::Mesh Map::GetAllCrosswalkMesh() const {
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geom::Mesh out_mesh;
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@ -1160,5 +1319,24 @@ namespace road {
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return out_mesh;
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}
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float Map::GetZPosInDeformation(float posx, float posy) const
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{
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// Amplitud
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const float A1 = 0.3f;
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const float A2 = 0.5f;
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// Fases
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const float F1 = 100.0;
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const float F2 = -1500.0;
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// Modifiers
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const float Kx1 = 0.035f;
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const float Kx2 = 0.02f;
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const float Ky1 = -0.08f;
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const float Ky2 = 0.05f;
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return A1 * sin((Kx1 * posx + Ky1 * posy + F1)) +
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A2 * sin((Kx2 * posx + Ky2 * posy + F2));
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}
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} // namespace road
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} // namespace carla
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@ -159,6 +159,9 @@ namespace road {
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std::vector<std::unique_ptr<geom::Mesh>> GenerateChunkedMesh(
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const rpc::OpendriveGenerationParameters& params) const;
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std::map<road::Lane::LaneType , std::vector<std::unique_ptr<geom::Mesh>>>
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GenerateOrderedChunkedMesh( const rpc::OpendriveGenerationParameters& params) const;
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/// Buids a mesh of all crosswalks based on the OpenDRIVE
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geom::Mesh GetAllCrosswalkMesh() const;
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@ -201,6 +204,8 @@ private:
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geom::Transform ¤t_transform,
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Waypoint ¤t_waypoint,
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Waypoint &next_waypoint);
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float GetZPosInDeformation(float posx, float posy) const;
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};
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} // namespace road
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@ -19,6 +19,7 @@ namespace geom {
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road_param.max_road_len = static_cast<float>(params.max_road_length);
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road_param.extra_lane_width = static_cast<float>(params.additional_width);
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road_param.wall_height = static_cast<float>(params.wall_height);
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road_param.vertex_width_resolution = static_cast<float>(params.vertex_width_resolution);
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}
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/// We use this epsilon to shift the waypoints away from the edges of the lane
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@ -48,6 +49,12 @@ namespace geom {
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return Generate(lane, s_start, s_end);
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}
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std::unique_ptr<Mesh> MeshFactory::GenerateTesselated(const road::Lane& lane) const {
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const double s_start = lane.GetDistance() + EPSILON;
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const double s_end = lane.GetDistance() + lane.GetLength() - EPSILON;
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return GenerateTesselated(lane, s_start, s_end);
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}
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std::unique_ptr<Mesh> MeshFactory::Generate(
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const road::Lane &lane, const double s_start, const double s_end) const {
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RELEASE_ASSERT(road_param.resolution > 0.0);
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@ -63,13 +70,16 @@ namespace geom {
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double s_current = s_start;
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std::vector<geom::Vector3D> vertices;
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if (lane.IsStraight()) {
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// Mesh optimization: If the lane is straight just add vertices at the
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// begining and at the end of it
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const auto edges = lane.GetCornerPositions(s_current, road_param.extra_lane_width);
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vertices.push_back(edges.first);
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vertices.push_back(edges.second);
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} else {
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}
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else
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{
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// Iterate over the lane's 's' and store the vertices based on it's width
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do {
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// Get the location of the edges of the current lane at the current waypoint
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@ -98,6 +108,103 @@ namespace geom {
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return std::make_unique<Mesh>(out_mesh);
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}
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std::unique_ptr<Mesh> MeshFactory::GenerateTesselated(
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const road::Lane& lane, const double s_start, const double s_end) const {
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RELEASE_ASSERT(road_param.resolution > 0.0);
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DEBUG_ASSERT(s_start >= 0.0);
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DEBUG_ASSERT(s_end <= lane.GetDistance() + lane.GetLength());
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DEBUG_ASSERT(s_end >= EPSILON);
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DEBUG_ASSERT(s_start < s_end);
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// The lane with lane_id 0 have no physical representation in OpenDRIVE
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Mesh out_mesh;
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if (lane.GetId() == 0) {
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return std::make_unique<Mesh>(out_mesh);
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}
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double s_current = s_start;
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std::vector<geom::Vector3D> vertices;
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// Ensure minimum vertices in width are two
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const int vertices_in_width = road_param.vertex_width_resolution >= 2 ? road_param.vertex_width_resolution : 2;
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const int segments_number = vertices_in_width - 1;
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// Iterate over the lane's 's' and store the vertices based on it's width
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do {
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// Get the location of the edges of the current lane at the current waypoint
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std::pair<geom::Vector3D, geom::Vector3D> edges = lane.GetCornerPositions(s_current, road_param.extra_lane_width);
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const geom::Vector3D segments_size = ( edges.second - edges.first ) / segments_number;
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geom::Vector3D current_vertex = edges.first;
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for (int i = 0; i < vertices_in_width; ++i)
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{
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vertices.push_back(current_vertex);
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current_vertex = current_vertex + segments_size;
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}
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// Update the current waypoint's "s"
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s_current += road_param.resolution;
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} while (s_current < s_end);
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// This ensures the mesh is constant and have no gaps between roads,
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// adding geometry at the very end of the lane
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if (s_end - (s_current - road_param.resolution) > EPSILON) {
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const auto edges = lane.GetCornerPositions(s_end - MESH_EPSILON, road_param.extra_lane_width);
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const geom::Vector3D segments_size = (edges.second - edges.first) / segments_number;
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geom::Vector3D current_vertex = edges.first;
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for (int i = 0; i < vertices_in_width; ++i)
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{
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vertices.push_back(current_vertex);
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current_vertex = current_vertex + segments_size;
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}
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}
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|
||||
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;
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
|
|
@ -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;
|
||||
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
}
|
||||
|
|
@ -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;
|
||||
};
|
||||
|
|
@ -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"
|
||||
|
|
|
|||
|
|
@ -33,6 +33,10 @@
|
|||
{
|
||||
"Name": "PhysXVehicles",
|
||||
"Enabled": true
|
||||
},
|
||||
{
|
||||
"Name": "ProceduralMeshComponent",
|
||||
"Enabled": true
|
||||
}
|
||||
]
|
||||
}
|
||||
Binary file not shown.
|
|
@ -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 ...
|
||||
}
|
||||
);
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
|
||||
}
|
||||
|
|
@ -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;
|
||||
};
|
||||
|
|
@ -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
|
||||
|
|
|
|||
|
|
@ -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!"
|
||||
|
|
|
|||
|
|
@ -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 $(ARGS)
|
||||
|
||||
.PHONY: PythonAPI
|
||||
|
|
|
|||
|
|
@ -190,15 +190,16 @@ echo %FILE_N% Installing Xercesc...
|
|||
call "%INSTALLERS_DIR%install_xercesc.bat"^
|
||||
--build-dir "%INSTALLATION_DIR%"
|
||||
copy %INSTALLATION_DIR%\xerces-c-3.2.3-install\lib\xerces-c_3.lib %CARLA_PYTHON_DEPENDENCIES%\lib
|
||||
copy %INSTALLATION_DIR%\xerces-c-3.2.3-install\lib\xerces-c_3.lib %CARLA_DEPENDENCIES_FOLDER%\lib
|
||||
|
||||
rem ============================================================================
|
||||
rem -- Download and install Sqlite3 --------------------------------------------
|
||||
rem ============================================================================
|
||||
|
||||
echo %FILE_N% Installing Sqlite3
|
||||
call "%INSTALLERS_DIR%install_sqlite3.bat"^
|
||||
--build-dir "%INSTALLATION_DIR%"
|
||||
copy %INSTALLATION_DIR%\sqlite3-install\lib\sqlite3.lib %CARLA_PYTHON_DEPENDENCIES%\lib
|
||||
copy %INSTALLATION_DIR%\sqlite3-install\lib\sqlite3.lib %CARLA_DEPENDENCIES_FOLDER%\lib
|
||||
|
||||
rem ============================================================================
|
||||
rem -- Download and install PROJ --------------------------------------------
|
||||
|
|
@ -208,6 +209,7 @@ echo %FILE_N% Installing PROJ
|
|||
call "%INSTALLERS_DIR%install_proj.bat"^
|
||||
--build-dir "%INSTALLATION_DIR%"
|
||||
copy %INSTALLATION_DIR%\proj-install\lib\proj.lib %CARLA_PYTHON_DEPENDENCIES%\lib
|
||||
copy %INSTALLATION_DIR%\proj-install\lib\proj.lib %CARLA_DEPENDENCIES_FOLDER%\lib
|
||||
|
||||
rem ============================================================================
|
||||
rem -- Download and install Eigen ----------------------------------------------
|
||||
|
|
|
|||
|
|
@ -380,9 +380,11 @@ XERCESC_REPO=https://archive.apache.org/dist/xerces/c/3/sources/xerces-c-${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 ${PROJ_INSTALL_DIR}
|
||||
mkdir -p ${PROJ_SRC_DIR}/build
|
||||
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} ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
|
||||
|
||||
# ==============================================================================
|
||||
# -- Get and compile patchelf --------------------------------------------------
|
||||
# ==============================================================================
|
||||
|
|
|
|||
|
|
@ -21,6 +21,7 @@ LIBCARLA_INSTALL_SERVER_FOLDER=${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=${CARLAUE4_PLUGIN_ROOT_FOLDER}/CarlaDependencies
|
||||
|
|
|
|||
|
|
@ -16,7 +16,7 @@ help:
|
|||
import: server
|
||||
@"${CARLA_BUILD_TOOLS_FOLDER}/Import.py" $(ARGS)
|
||||
|
||||
CarlaUE4Editor: LibCarla
|
||||
CarlaUE4Editor: LibCarla osm2odr
|
||||
@"${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.bat" --build $(ARGS)
|
||||
|
||||
launch: CarlaUE4Editor
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue