add wust typr mpc and mutipule x

wust_vision-main/tasks/auto_guidance/debug.hpp

@@ -0,0 +1,24 @@
+#pragma once
+#include "tasks/auto_guidance/guidance_tracker/guidance_target.hpp"
+#include "wust_vl/video/icamera.hpp"
+namespace wust_vision {
+namespace auto_guidance {
+
+    struct AutoGuidanceDebug {
+        wust_vl::video::ImageFrame img_frame;
+        double latency_ms;
+        GuidanceTarget target;
+        GreenLights lights;
+        cv::Mat mask;
+    };
+    struct DebugLogs {
+        std::vector<double> time_log;
+        std::vector<double> cx_log;
+    };
+    void debuglog(const GuidanceTarget& target);
+    void drawDebugOverlayShm(const AutoGuidanceDebug& dbg, bool auto_fps);
+    void drawDebugOverlayWrite(const AutoGuidanceDebug& dbg, bool auto_fps);
+    void drawDebugOverlayShow(const AutoGuidanceDebug& dbg, bool auto_fps);
+    void drawAutoGuidanceDebugContent(cv::Mat& debug_img, const AutoGuidanceDebug& dbg);
+} // namespace auto_guidance
+} // namespace wust_vision