Removed all debug helper functions

LibCarla/source/carla/trafficmanager/CollisionStage.cpp

@@ -22,7 +22,6 @@ CollisionStage::CollisionStage(
   const TrackTraffic &track_traffic,
   const Parameters &parameters,
   CollisionFrame &output_array,
-  cc::DebugHelper &debug_helper,
   RandomGeneratorMap &random_devices)
   : vehicle_id_list(vehicle_id_list),
     simulation_state(simulation_state),
@@ -30,7 +29,6 @@ CollisionStage::CollisionStage(
     track_traffic(track_traffic),
     parameters(parameters),
     output_array(output_array),
-    debug_helper(debug_helper),
     random_devices(random_devices) {}
 
 void CollisionStage::Update(const unsigned long index) {
@@ -415,15 +413,5 @@ void CollisionStage::ClearCycleCache() {
   geometry_cache.clear();
 }
 
-void CollisionStage::DrawBoundary(const LocationVector &boundary) {
-  cg::Location one_meter_up(0.0f, 0.0f, 1.0f);
-  for (uint64_t i = 0u; i < boundary.size(); ++i) {
-    debug_helper.DrawLine(
-        boundary[i] + one_meter_up,
-        boundary[i+1 == boundary.size()? 0: i+1] + one_meter_up,
-        0.1f, {255u, 255u, 0u}, 0.05f);
-  }
-}
-
 } // namespace traffic_manager
 } // namespace carla

LibCarla/source/carla/trafficmanager/CollisionStage.h

@@ -8,8 +8,6 @@
 #include "boost/geometry/geometries/point_xy.hpp"
 #include "boost/geometry/geometries/polygon.hpp"
 
-#include "carla/client/DebugHelper.h"
-
 #include "carla/trafficmanager/DataStructures.h"
 #include "carla/trafficmanager/Parameters.h"
 #include "carla/trafficmanager/RandomGenerator.h"
@@ -52,7 +50,6 @@ private:
   const TrackTraffic &track_traffic;
   const Parameters &parameters;
   CollisionFrame &output_array;
-  cc::DebugHelper &debug_helper;
   // Structure keeping track of blocking lead vehicles.
   CollisionLockMap collision_locks;
   // Structures to cache geodesic boundaries of vehicle and
@@ -93,7 +90,6 @@ public:
                  const TrackTraffic &track_traffic,
                  const Parameters &parameters,
                  CollisionFrame &output_array,
-                 cc::DebugHelper& debug_helper,
                  RandomGeneratorMap &random_devices);
 
   void Update (const unsigned long index) override;

LibCarla/source/carla/trafficmanager/InMemoryMap.cpp

@@ -64,7 +64,7 @@ namespace traffic_manager {
     return result;
   }
 
-  void InMemoryMap::SetUp(cc::DebugHelper &debug_helper) {
+  void InMemoryMap::SetUp() {
 
     // 1. Building segment topology (i.e., defining set of segment predecessors and successors)
     assert(_world_map != nullptr && "No map reference found.");
@@ -162,14 +162,12 @@ namespace traffic_manager {
 
           float distance = distance_squared(segment_waypoints.at(i)->GetLocation(), segment_waypoints.at(i+1)->GetLocation());
           if (angle(segment_waypoints.at(i)->GetLocation(), segment_waypoints.at(i+1)->GetLocation()) > 0.12f) { // 7 deg
-            debug_helper.DrawPoint(segment_waypoints.at(i)->GetLocation(), 0.15f, {0u, 0u, 255u}, 556.05f);
             auto new_waypoint = segment_waypoints.at(i)->GetWaypoint()->GetNext(std::sqrt(distance)/2.0f).front();
             i++;
             segment_waypoints.insert(segment_waypoints.begin()+static_cast<int64_t>(i), std::make_shared<SimpleWaypoint>(new_waypoint));
           } else if (distance > MAX_WPT_DISTANCE) {
             auto new_waypoint = segment_waypoints.at(i)->GetWaypoint()->GetNext(std::sqrt(distance)/2.0f).front();
             i++;
-            debug_helper.DrawPoint(segment_waypoints.at(i)->GetLocation(), 0.15f, {0u, 255u, 255u}, 556.05f);
             segment_waypoints.insert(segment_waypoints.begin()+static_cast<int64_t>(i), std::make_shared<SimpleWaypoint>(new_waypoint));
           }
       }
@@ -209,7 +207,6 @@ namespace traffic_manager {
     for (auto &simple_waypoint: dense_topology) {
       if (simple_waypoint != nullptr) {
         const cg::Location loc = simple_waypoint->GetLocation();
-        debug_helper.DrawPoint(loc, 0.1f, {255u, 0u, 0u}, 555.05f);
         Point3D point(loc.x, loc.y, loc.z);
         rtree.insert(std::make_pair(point, simple_waypoint));
       }

LibCarla/source/carla/trafficmanager/InMemoryMap.h

@@ -13,7 +13,6 @@
 #include "boost/geometry.hpp"
 #include "boost/geometry/geometries/point.hpp"
 #include "boost/geometry/index/rtree.hpp"
-#include "carla/client/DebugHelper.h"
 
 #include "carla/client/Map.h"
 #include "carla/client/Waypoint.h"
@@ -68,7 +67,7 @@ namespace bgi = boost::geometry::index;
 
     /// This method constructs the local map with a resolution of
     /// sampling_resolution.
-    void SetUp(cc::DebugHelper &debug_helper);
+    void SetUp();
 
     /// This method returns the closest waypoint to a given location on the map.
     SimpleWaypointPtr GetWaypoint(const cg::Location loc) const;

LibCarla/source/carla/trafficmanager/LocalizationStage.cpp

@@ -19,7 +19,6 @@ LocalizationStage::LocalizationStage(
   Parameters &parameters,
   std::vector<ActorId>& marked_for_removal,
   LocalizationFrame &output_array,
-  cc::DebugHelper &debug_helper,
   RandomGeneratorMap &random_devices)
   : vehicle_id_list(vehicle_id_list),
     buffer_map(buffer_map),
@@ -29,7 +28,6 @@ LocalizationStage::LocalizationStage(
     parameters(parameters),
     marked_for_removal(marked_for_removal),
     output_array(output_array),
-    debug_helper(debug_helper),
     random_devices(random_devices) {}
 
 void LocalizationStage::Update(const unsigned long index) {
@@ -404,21 +402,5 @@ SimpleWaypointPtr LocalizationStage::AssignLaneChange(const ActorId actor_id,
   return change_over_point;
 }
 
-void LocalizationStage::DrawBuffer(Buffer &buffer) {
-  uint64_t buffer_size = buffer.size();
-  uint64_t step_size = std::max(buffer_size/20u, static_cast<uint64_t>(1));
-  cc::DebugHelper::Color color {0u, 0u, 0u};
-  cg::Location two_meters_up = cg::Location(0.0f, 0.0f, 2.0f);
-  for (uint64_t i = 0u; i + step_size < buffer_size; i += step_size) {
-    if (!buffer.at(i)->CheckJunction() && !buffer.at(i + step_size)->CheckJunction()) {
-      color.g = 255u;
-    }
-    debug_helper.DrawLine(buffer.at(i)->GetLocation() + two_meters_up,
-                          buffer.at(i + step_size)->GetLocation() + two_meters_up,
-                          0.2f, color, 0.05f);
-    color = {0u, 0u, 0u};
-  }
-}
-
 } // namespace traffic_manager
 } // namespace carla

LibCarla/source/carla/trafficmanager/LocalizationStage.h

@@ -3,8 +3,6 @@
 
 #include <memory>
 
-#include "carla/client/DebugHelper.h"
-
 #include "carla/trafficmanager/DataStructures.h"
 #include "carla/trafficmanager/InMemoryMap.h"
 #include "carla/trafficmanager/LocalizationUtils.h"
@@ -37,7 +35,6 @@ private:
   // Array of vehicles marked by stages for removal.
   std::vector<ActorId>& marked_for_removal;
   LocalizationFrame &output_array;
-  cc::DebugHelper &debug_helper;
   LaneChangeLocationMap last_lane_change_location;
   ActorIdSet vehicles_at_junction;
   using SimpleWaypointPair = std::pair<SimpleWaypointPtr, SimpleWaypointPtr>;
@@ -64,7 +61,6 @@ public:
                     Parameters &parameters,
                     std::vector<ActorId>& marked_for_removal,
                     LocalizationFrame &output_array,
-                    cc::DebugHelper &debug_helper,
                     RandomGeneratorMap &random_devices);
 
   void Update(const unsigned long index) override;

LibCarla/source/carla/trafficmanager/MotionPlanStage.cpp

@@ -29,8 +29,7 @@ MotionPlanStage::MotionPlanStage(
   const CollisionFrame&collision_frame,
   const TLFrame &tl_frame,
   const cc::World &world,
-  ControlFrame &output_array,
+  ControlFrame &output_array)
-  cc::DebugHelper &debug_helper)
   : vehicle_id_list(vehicle_id_list),
     simulation_state(simulation_state),
     parameters(parameters),
@@ -44,8 +43,7 @@ MotionPlanStage::MotionPlanStage(
     collision_frame(collision_frame),
     tl_frame(tl_frame),
     world(world),
-    output_array(output_array),
+    output_array(output_array) {}
-    debug_helper(debug_helper) {}
 
 void MotionPlanStage::Update(const unsigned long index) {
   const ActorId actor_id = vehicle_id_list.at(index);
@@ -87,7 +85,6 @@ void MotionPlanStage::Update(const unsigned long index) {
                                                 TARGET_WAYPOINT_HORIZON_LENGTH);
     const SimpleWaypointPtr &target_waypoint = GetTargetWaypoint(waypoint_buffer, target_point_distance).first;
     const cg::Location target_location = target_waypoint->GetLocation();
-    debug_helper.DrawPoint(target_location + cg::Location(0,0,0.5), 0.2f, {0u, 255u, 0u}, .1f);
     float dot_product = DeviationDotProduct(ego_location, ego_heading, target_location);
     float cross_product = DeviationCrossProduct(ego_location, ego_heading, target_location);
     dot_product = 1.0f - dot_product;

LibCarla/source/carla/trafficmanager/MotionPlanStage.h

@@ -11,8 +11,6 @@
 #include "carla/trafficmanager/Stage.h"
 #include "carla/trafficmanager/TrackTraffic.h"
 
-#include "carla/client/DebugHelper.h"
-
 namespace carla {
 namespace traffic_manager {
 
@@ -38,7 +36,6 @@ private:
   // in hybrid physics mode.
   std::unordered_map<ActorId, cc::Timestamp> teleportation_instance;
   ControlFrame &output_array;
-  cc::DebugHelper debug_helper;
   cc::Timestamp current_timestamp;
 
   std::pair<bool, float> CollisionHandling(const CollisionHazardData &collision_hazard,
@@ -65,8 +62,7 @@ public:
                   const CollisionFrame &collision_frame,
                   const TLFrame &tl_frame,
                   const cc::World &world,
-                  ControlFrame &output_array,
+                  ControlFrame &output_array);
-                  cc::DebugHelper &debug_helper);
 
   void Update(const unsigned long index);
 

LibCarla/source/carla/trafficmanager/TrafficManagerLocal.cpp

@@ -31,7 +31,6 @@ TrafficManagerLocal::TrafficManagerLocal(
 
     episode_proxy(episode_proxy),
     world(cc::World(episode_proxy)),
-    debug_helper(world.MakeDebugHelper()),
 
     localization_stage(LocalizationStage(vehicle_id_list,
                                          buffer_map,
@@ -41,7 +40,6 @@ TrafficManagerLocal::TrafficManagerLocal(
                                          parameters,
                                          marked_for_removal,
                                          localization_frame,
-                                         debug_helper,
                                          random_devices)),
 
     collision_stage(CollisionStage(vehicle_id_list,
@@ -50,7 +48,6 @@ TrafficManagerLocal::TrafficManagerLocal(
                                    track_traffic,
                                    parameters,
                                    collision_frame,
-                                   debug_helper,
                                    random_devices)),
 
     traffic_light_stage(TrafficLightStage(vehicle_id_list,
@@ -74,8 +71,7 @@ TrafficManagerLocal::TrafficManagerLocal(
                                       collision_frame,
                                       tl_frame,
                                       world,
-                                      control_frame,
+                                      control_frame)),
-                                      debug_helper)),
 
     alsm(ALSM(registered_vehicles,
               buffer_map,
@@ -97,7 +93,7 @@ TrafficManagerLocal::TrafficManagerLocal(
 
   registered_vehicles_state = -1;
 
-  SetupLocalMap(debug_helper);
+  SetupLocalMap();
 
   Start();
 }
@@ -107,10 +103,10 @@ TrafficManagerLocal::~TrafficManagerLocal() {
   Release();
 }
 
-void TrafficManagerLocal::SetupLocalMap(cc::DebugHelper &debug_helper) {
+void TrafficManagerLocal::SetupLocalMap() {
   const carla::SharedPtr<cc::Map> world_map = world.GetMap();
   local_map = std::make_shared<InMemoryMap>(world_map);
-  local_map->SetUp(debug_helper);
+  local_map->SetUp();
 }
 
 void TrafficManagerLocal::Start() {

LibCarla/source/carla/trafficmanager/TrafficManagerLocal.h

@@ -12,7 +12,6 @@
 #include <thread>
 #include <vector>
 
-#include "carla/client/DebugHelper.h"
 #include "carla/client/detail/EpisodeProxy.h"
 #include "carla/client/TrafficLight.h"
 #include "carla/client/World.h"
@@ -71,8 +70,6 @@ private:
   LocalMapPtr local_map;
   /// Structures to hold waypoint buffers for all vehicles.
   BufferMap buffer_map;
-  /// Carla's debug helper object.
-  cc::DebugHelper debug_helper;
   /// Object for tracking paths of the traffic vehicles.
   TrackTraffic track_traffic;
   /// Type containing the current state of all actors involved in the simulation.
@@ -136,7 +133,7 @@ public:
   virtual ~TrafficManagerLocal();
 
   /// Method to setup InMemoryMap.
-  void SetupLocalMap(cc::DebugHelper &debug_helper);
+  void SetupLocalMap();
 
   /// To start the TrafficManager.
   void Start();