Debug drawing extension to allow drawing primitives on HUD layer (#7168)

* Extended debug draw functions to allow drawing primitives on HUD layer * Added documentation for new drawing features * Added debug draw changes to changelog --------- Co-authored-by: Olli <[email protected]>
carla-simulator · Mar 27, 2024 · d5d3cf9 · d5d3cf9
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -10,6 +10,7 @@
  * make PythonAPI Windows: Fixed incompatibility issue with Anaconda due `py` command.
  * Added function to get actor' sockets names
  * Fixed bug in python agents when vehicle list was empty causing a check on all vehicles (BasicAgent.py) and detected pedestrians as vehicles if no pedestrains are present (BehaviourAgent.py) 
+ * Extended debug drawing functions to allow drawing primitives on HUD layer
  * Added possibility to change gravity variable in imui sensor for the accelerometer
  * Fixed ROS2 native extension build error when ROS2 is installed in the system.
  * ROS2Native: Force fast-dds dependencies download to avoid build crash when boost_asio and tinyxml2 are not installed in Linux.

diff --git a/Docs/python_api.md b/Docs/python_api.md
diff --git a/LibCarla/source/carla/client/DebugHelper.cpp b/LibCarla/source/carla/client/DebugHelper.cpp
@@ -35,6 +35,16 @@ namespace client {
     DrawShape(_episode, point, color, life_time, persistent_lines);
   }
 
+  void DebugHelper::DrawHUDPoint(
+      const geom::Location &location,
+      float size,
+      sensor::data::Color color,
+      float life_time,
+      bool persistent_lines) {
+    Shape::HUDPoint point{location, size};
+    DrawShape(_episode, point, color, life_time, persistent_lines);
+  }
+
   void DebugHelper::DrawLine(
       const geom::Location &begin,
       const geom::Location &end,
@@ -46,6 +56,17 @@ namespace client {
     DrawShape(_episode, line, color, life_time, persistent_lines);
   }
 
+  void DebugHelper::DrawHUDLine(
+      const geom::Location &begin,
+      const geom::Location &end,
+      float thickness,
+      Color color,
+      float life_time,
+      bool persistent_lines) {
+    Shape::HUDLine line{begin, end, thickness};
+    DrawShape(_episode, line, color, life_time, persistent_lines);
+  }
+
   void DebugHelper::DrawArrow(
       const geom::Location &begin,
       const geom::Location &end,
@@ -59,6 +80,19 @@ namespace client {
     DrawShape(_episode, arrow, color, life_time, persistent_lines);
   }
 
+  void DebugHelper::DrawHUDArrow(
+      const geom::Location &begin,
+      const geom::Location &end,
+      float thickness,
+      float arrow_size,
+      sensor::data::Color color,
+      float life_time,
+      bool persistent_lines) {
+    Shape::HUDLine line{begin, end, thickness};
+    Shape::HUDArrow arrow{line, arrow_size};
+    DrawShape(_episode, arrow, color, life_time, persistent_lines);
+  }
+
   void DebugHelper::DrawBox(
       const geom::BoundingBox &box,
       const geom::Rotation &rotation,
@@ -70,6 +104,17 @@ namespace client {
     DrawShape(_episode, the_box, color, life_time, persistent_lines);
   }
 
+  void DebugHelper::DrawHUDBox(
+      const geom::BoundingBox &box,
+      const geom::Rotation &rotation,
+      float thickness,
+      sensor::data::Color color,
+      float life_time,
+      bool persistent_lines) {
+    Shape::HUDBox the_box{box, rotation, thickness};
+    DrawShape(_episode, the_box, color, life_time, persistent_lines);
+  }
+
   void DebugHelper::DrawString(
       const geom::Location &location,
       const std::string &text,

diff --git a/LibCarla/source/carla/client/DebugHelper.h b/LibCarla/source/carla/client/DebugHelper.h
@@ -30,6 +30,13 @@ namespace client {
         float life_time = -1.0f,
         bool persistent_lines = true);
 
+    void DrawHUDPoint(
+        const geom::Location &location,
+        float size = 0.1f,
+        Color color = Color{255u, 0u, 0u},
+        float life_time = -1.0f,
+        bool persistent_lines = true);
+
     void DrawLine(
         const geom::Location &begin,
         const geom::Location &end,
@@ -38,6 +45,14 @@ namespace client {
         float life_time = -1.0f,
         bool persistent_lines = true);
 
+    void DrawHUDLine(
+        const geom::Location &begin,
+        const geom::Location &end,
+        float thickness = 1.0f,
+        Color color = Color{225u, 0u, 0u},
+        float life_time = -1.0f,
+        bool presistent_lines = true);
+
     void DrawArrow(
         const geom::Location &begin,
         const geom::Location &end,
@@ -47,6 +62,15 @@ namespace client {
         float life_time = -1.0f,
         bool persistent_lines = true);
 
+    void DrawHUDArrow(
+        const geom::Location &begin,
+        const geom::Location &end,
+        float thickness = 0.1f,
+        float arrow_size = 0.1f,
+        Color color = Color{255u, 0u, 0u},
+        float life_time = -1.0f,
+        bool persistent_lines = true);
+
     void DrawBox(
         const geom::BoundingBox &box,
         const geom::Rotation &rotation,
@@ -55,6 +79,14 @@ namespace client {
         float life_time = -1.0f,
         bool persistent_lines = true);
 
+    void DrawHUDBox(
+        const geom::BoundingBox &box,
+        const geom::Rotation &rotation,
+        float thickness = 0.1f,
+        Color color = Color{255u, 0u, 0u},
+        float life_time = -1.0f,
+        bool persistent_lines = true);
+
     void DrawString(
         const geom::Location &location,
         const std::string &text,

diff --git a/LibCarla/source/carla/rpc/DebugShape.h b/LibCarla/source/carla/rpc/DebugShape.h
@@ -35,34 +35,60 @@ namespace rpc {
       MSGPACK_DEFINE_ARRAY(location, size);
     };
 
+    struct HUDPoint {
+      geom::Location location;
+      float size;
+      MSGPACK_DEFINE_ARRAY(location, size);
+    };
+
     struct Line {
       geom::Location begin;
       geom::Location end;
       float thickness;
       MSGPACK_DEFINE_ARRAY(begin, end, thickness);
     };
 
+    struct HUDLine {
+      geom::Location begin;
+      geom::Location end;
+      float thickness;
+      MSGPACK_DEFINE_ARRAY(begin, end, thickness);
+    };
+
     struct Arrow {
       Line line;
       float arrow_size;
       MSGPACK_DEFINE_ARRAY(line, arrow_size);
     };
 
+    struct HUDArrow {
+      HUDLine line;
+      float arrow_size;
+      MSGPACK_DEFINE_ARRAY(line, arrow_size);
+    };
+
     struct Box {
       geom::BoundingBox box;
       geom::Rotation rotation;
       float thickness;
       MSGPACK_DEFINE_ARRAY(box, rotation, thickness);
     };
 
+    struct HUDBox {
+      geom::BoundingBox box;
+      geom::Rotation rotation;
+      float thickness;
+      MSGPACK_DEFINE_ARRAY(box, rotation, thickness);
+    };
+
     struct String {
       geom::Location location;
       std::string text;
       bool draw_shadow;
       MSGPACK_DEFINE_ARRAY(location, text, draw_shadow);
     };
 
-    boost::variant2::variant<Point, Line, Arrow, Box, String> primitive;
+    boost::variant2::variant<Point, Line, Arrow, Box, String, HUDPoint, HUDLine, HUDArrow, HUDBox> primitive;
 
     Color color = {255u, 0u, 0u};
 

diff --git a/PythonAPI/carla/source/libcarla/World.cpp b/PythonAPI/carla/source/libcarla/World.cpp
@@ -374,13 +374,26 @@ void export_world() {
          arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
          arg("life_time")=-1.0f,
          arg("persistent_lines")=true))
+    .def("draw_hud_point", &cc::DebugHelper::DrawHUDPoint,
+        (arg("location"),
+         arg("size")=0.1f,
+         arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
+         arg("life_time")=-1.0f,
+         arg("persistent_lines")=true))
     .def("draw_line", &cc::DebugHelper::DrawLine,
         (arg("begin"),
          arg("end"),
          arg("thickness")=0.1f,
          arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
          arg("life_time")=-1.0f,
          arg("persistent_lines")=true))
+    .def("draw_hud_line", &cc::DebugHelper::DrawHUDLine,
+        (arg("begin"),
+         arg("end"),
+         arg("thickness")=0.1f,
+         arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
+         arg("life_time")=-1.0f,
+         arg("persistent_lines")=true))
     .def("draw_arrow", &cc::DebugHelper::DrawArrow,
         (arg("begin"),
          arg("end"),
@@ -389,13 +402,28 @@ void export_world() {
          arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
          arg("life_time")=-1.0f,
          arg("persistent_lines")=true))
+    .def("draw_hud_arrow", &cc::DebugHelper::DrawHUDArrow,
+        (arg("begin"),
+         arg("end"),
+         arg("thickness")=0.1f,
+         arg("arrow_size")=0.1f,
+         arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
+         arg("life_time")=-1.0f,
+         arg("persistent_lines")=true))
     .def("draw_box", &cc::DebugHelper::DrawBox,
         (arg("box"),
          arg("rotation"),
          arg("thickness")=0.1f,
          arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
          arg("life_time")=-1.0f,
          arg("persistent_lines")=true))
+    .def("draw_hud_box", &cc::DebugHelper::DrawHUDBox,
+        (arg("box"),
+         arg("rotation"),
+         arg("thickness")=0.1f,
+         arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
+         arg("life_time")=-1.0f,
+         arg("persistent_lines")=true))
     .def("draw_string", &cc::DebugHelper::DrawString,
         (arg("location"),
          arg("text"),
@@ -404,4 +432,6 @@ void export_world() {
          arg("life_time")=-1.0f,
          arg("persistent_lines")=true))
   ;
+  // scope HUD = class_<cc::DebugHelper>(
+
 }