DebugHelper.h

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// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "carla/client/detail/EpisodeProxy.h"
#include "carla/geom/BoundingBox.h"
#include "carla/geom/Location.h"
#include "carla/geom/Rotation.h"
#include "carla/sensor/data/Color.h"
 
namespace carla {
namespace client {
 
  class DebugHelper {
  public:
 
    using Color = sensor::data::Color;
 
    explicit DebugHelper(detail::EpisodeProxy episode)
      : _episode(std::move(episode)) {}
 
    void DrawPoint(
        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,
        float thickness = 0.1f,
        Color color = Color{255u, 0u, 0u},
        float life_time = -1.0f,
        bool persistent_lines = true);
 
    void DrawArrow(
        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,
        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,
        bool draw_shadow = false,
        Color color = Color{255u, 0u, 0u},
        float life_time = -1.0f,
        bool persistent_lines = true);
 
    /// Clear every persistent debug shape (lines, points, boxes, arrows)
    /// previously drawn from this world.
    void ClearDebugShape();
 
    /// Clear every persistent debug string currently shown in the HUD.
    void ClearDebugString();
 
  private:
 
    detail::EpisodeProxy _episode;
  };
 
} // namespace client
} // namespace carla