#!/usr/bin/env python # Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de # Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . """Import Assets to Carla""" from __future__ import print_function import errno import fnmatch import json import os import shutil import subprocess # Global variables IMPORT_SETTING_FILENAME = "importsetting.json" SCRIPT_NAME = os.path.basename(__file__) SCRIPT_DIR = os.path.dirname(os.path.realpath(__file__)) # Go two directories above the current script CARLA_ROOT_PATH = os.path.normpath(SCRIPT_DIR + '/../..') def get_packages_json_list(folder): """Returns a list with the paths of each package's json files that has been found recursively in the input folder. """ json_files = [] for root, _, filenames in os.walk(folder): for filename in fnmatch.filter(filenames, "*.json"): json_files.append([root, filename]) return json_files def invoke_commandlet(name, arguments): """Generic function for running a commandlet with its arguments.""" ue4_path = os.environ["UE4_ROOT"] uproject_path = os.path.join(CARLA_ROOT_PATH, "Unreal", "CarlaUE4", "CarlaUE4.uproject") run = "-run=%s" % (name) if os.name == "nt": sys_name = "Win64" editor_path = "%s/Engine/Binaries/%s/UE4Editor" % (ue4_path, sys_name) command = [editor_path, uproject_path, run] command.extend(arguments) print("Commandlet:", command) subprocess.check_call(command, shell=True) elif os.name == "posix": sys_name = "Linux" editor_path = "%s/Engine/Binaries/%s/UE4Editor" % (ue4_path, sys_name) full_command = "%s %s %s %s" % (editor_path, uproject_path, run, " ".join(arguments)) print("Commandlet:", full_command) subprocess.call([full_command], shell=True) def generate_import_setting_file(package_name, json_dirname, props, maps): """Creates the PROPS and MAPS import_setting.json file needed as an argument for using the ImportAssets commandlet """ importfile = os.path.join(os.getcwd(), IMPORT_SETTING_FILENAME) if os.path.exists(importfile): os.remove(importfile) with open(importfile, "w+") as fh: import_groups = [] file_names = [] import_settings = { "bImportMesh": 1, "bConvertSceneUnit": 1, "bConvertScene": 1, "bCombineMeshes": 1, "bImportTextures": 1, "bImportMaterials": 1, "bRemoveDegenerates": 1, "AnimSequenceImportData": {}, "SkeletalMeshImportData": {}, "TextureImportData": {}, "StaticMeshImportData": { "bRemoveDegenerates": 1, "bAutoGenerateCollision": 0, "bCombineMeshes": 0, "bConvertSceneUnit": 1 } } for prop in props: props_dest = "/" + "/".join(["Game", package_name, "Static", prop["tag"], prop["name"]]) file_names = [os.path.join(json_dirname, prop["source"])] import_groups.append({ "ImportSettings": import_settings, "FactoryName": "FbxFactory", "DestinationPath": props_dest, "bReplaceExisting": "true", "FileNames": file_names }) for umap in maps: maps_dest = "/" + "/".join(["Game", package_name, "Maps", umap["name"]]) file_names = [os.path.join(json_dirname, umap["source"])] import_groups.append({ "ImportSettings": import_settings, "FactoryName": "FbxFactory", "DestinationPath": maps_dest, "bReplaceExisting": "true", "FileNames": file_names }) fh.write(json.dumps({"ImportGroups": import_groups})) fh.close() return importfile def generate_package_file(package_name, props, maps): """Creates the PackageName.Package.json file for the package.""" output_json = {} output_json["props"] = [] for prop in props: name = prop["name"] size = prop["size"] source_name = os.path.basename(prop["source"]).split('.') if len(source_name) < 2: print("[Warning] File name '" + prop["source"] + "' contains multiple dots ('.')") source_name = '.'.join([source_name[0], source_name[0]]) path = "/" + "/".join(["Game", package_name, "Static", prop["tag"], prop["name"], source_name]) output_json["props"].append({ "name": name, "path": path, "size": size, }) output_json["maps"] = [] for umap in maps: path = "/" + "/".join(["Game", package_name, "Maps", umap["name"]]) use_carla_materials = umap["use_carla_materials"] if "use_carla_materials" in umap else False output_json["maps"].append({ "name": umap["name"], "path": path, "use_carla_materials": use_carla_materials }) package_config_path = os.path.join(CARLA_ROOT_PATH, "Unreal", "CarlaUE4", "Content", package_name, "Config") if not os.path.exists(package_config_path): try: os.makedirs(package_config_path) except OSError as exc: if exc.errno != errno.EEXIST: raise with open(os.path.join(package_config_path, package_name + ".Package.json"), "w+") as fh: json.dump(output_json, fh, indent=4) def import_assets(package_name, json_dirname, props, maps): """Same commandlet is used for importing assets and also maps.""" commandlet_name = "ImportAssets" # Import Props import_setting_file = generate_import_setting_file(package_name, json_dirname, props, maps) commandlet_arguments = ["-importSettings=\"%s\"" % import_setting_file, "-nosourcecontrol", "-replaceexisting"] invoke_commandlet(commandlet_name, commandlet_arguments) os.remove(import_setting_file) # Move maps XODR files if any for umap in maps: # Make sure XODR info is full and the file exists if "xodr" in umap and umap["xodr"] and os.path.isfile(os.path.join(json_dirname, umap["xodr"])): # Make sure the `.xodr` file have the same name than the `.umap` xodr_path = os.path.abspath(os.path.join(json_dirname, umap["xodr"])) umap_name = umap["name"] xodr_name = '.'.join([umap_name, "xodr"]) xodr_folder_destin = os.path.join( CARLA_ROOT_PATH, "Unreal", "CarlaUE4", "Content", package_name, "Maps", umap_name, "OpenDrive") if not os.path.exists(xodr_folder_destin): os.makedirs(xodr_folder_destin) xodr_path_destin = os.path.join( xodr_folder_destin, xodr_name) print('Copying "' + xodr_path + '" to "' + xodr_path_destin + '"') shutil.copy2(xodr_path, xodr_path_destin) # Create package file generate_package_file(package_name, props, maps) def import_assets_from_json_list(json_list): maps = [] package_name = "" for dirname, filename in json_list: # Read json file with open(os.path.join(dirname, filename)) as json_file: data = json.load(json_file) # Take all the fbx registered in the provided json files # and place it inside unreal in the provided path (by the json file) maps = [] props = [] if "maps" in data: maps = data["maps"] if "props" in data: props = data["props"] package_name = filename.replace(".json", "") import_assets(package_name, dirname, props, maps) if not package_name: print("No Packages JSONs found, nothing to import. Skipping package.") continue # First we only move the meshes to the tagged folders for semantic # segmentation move_assets_commandlet(package_name, maps) # we need to build the binary file for navigation of pedestrians build_binary_for_navigation(package_name, dirname, maps) # We prepare only the maps for cooking after moving them. Props cooking will be done from Package.sh script. prepare_maps_commandlet_for_cooking(package_name, only_prepare_maps=True) def prepare_maps_commandlet_for_cooking(package_name, only_prepare_maps): commandlet_name = "PrepareAssetsForCooking" commandlet_arguments = ["-PackageName=%s" % package_name] commandlet_arguments.append("-OnlyPrepareMaps=%d" % only_prepare_maps) invoke_commandlet(commandlet_name, commandlet_arguments) def move_assets_commandlet(package_name, maps): commandlet_name = "MoveAssets" commandlet_arguments = ["-PackageName=%s" % package_name] umap_names = "" for umap in maps: umap_names += umap["name"] + " " commandlet_arguments.append("-Maps=%s" % umap_names) invoke_commandlet(commandlet_name, commandlet_arguments) # build the binary file for navigation of pedestrians for that map def build_binary_for_navigation(package_name, dirname, maps): folder = os.path.join(CARLA_ROOT_PATH, "Util", "DockerUtils", "dist") # process each map for umap in maps: # get source and target names (package name only) head, tail = os.path.split(umap["source"]) source_name = tail.replace(".fbx", "") target_name = umap["name"] # copy the XODR file into docker utils folder if "xodr" in umap and umap["xodr"] and os.path.isfile(os.path.join(dirname, umap["xodr"])): # Make sure the `.xodr` file have the same name than the `.umap` xodr_path_source = os.path.abspath(os.path.join(dirname, umap["xodr"])) xodr_name = '.'.join([target_name, "xodr"]) xodr_path_target = os.path.join(folder, xodr_name) # copy print('Copying "' + xodr_path_source + '" to "' + xodr_path_target + '"') shutil.copy2(xodr_path_source, xodr_path_target) # copy the FBX file into docker utils folder if "source" in umap and umap["source"] and os.path.isfile(os.path.join(dirname, umap["source"])): # Make sure the `.fbx` file have the same name than the `.umap` fbx_path_source = os.path.abspath(os.path.join(dirname, umap["source"])) fbx_name = '.'.join([target_name, "fbx"]) fbx_path_target = os.path.join(folder, fbx_name) # copy print('Copying "' + fbx_path_source + '" to "' + fbx_path_target + '"') shutil.copy2(fbx_path_source, fbx_path_target) # make the conversion if os.name == "nt": subprocess.call(["%s\\build.bat" % folder, target_name], cwd=folder, shell=True) else: subprocess.call(["chmod +x %s/build.sh" % folder], cwd=folder, shell=True) subprocess.call(["%s/build.sh" % folder, target_name], cwd=folder, shell=True) # copy the binary file nav_folder_target = os.path.join( CARLA_ROOT_PATH, "Unreal", "CarlaUE4", "Content", package_name, "Maps", target_name, "Nav") if not os.path.exists(nav_folder_target): os.makedirs(nav_folder_target) nav_path_source = os.path.join(folder, "%s.bin" % target_name) nav_path_target = os.path.join(nav_folder_target, "%s.bin" % target_name) print('Copying "' + nav_path_source + '" to "' + nav_path_target + '"') shutil.copy2(nav_path_source, nav_path_target) # remove files os.remove(fbx_path_target) os.remove(xodr_path_target) def main(): import_folder = os.path.join(CARLA_ROOT_PATH, "Import") json_list = get_packages_json_list(import_folder) import_assets_from_json_list(json_list) if __name__ == '__main__': main()