Function draw_legend

VisionPilot/modules/debug/src/debug_draw.cpp:139–172

}

static void draw_legend(cv::Mat& img, const OverlayLayout& L,
                        const DebugView& v)
{
    draw_panel(img, L.legend, "OVERLAY KEY", kClrHeader);

    const int x0 = L.legend.x + 8;
    int y = L.legend.y + 28;
    const int dy = 16;

    auto swatch = [&](int yl, cv::Scalar c, const char* txt) {
        cv::rectangle(img, cv::Rect(x0, yl - 9, 14, 4), c, -1, cv::LINE_AA);
        cv::putText(img, txt, cv::Point(x0 + 20, yl), kFont, 0.38, kClrNormal, 1, cv::LINE_AA);
    };

    swatch(y, kClrEgoPath, "Green  AutoSteer waypoints"); y += dy;
    swatch(y, kClrFusedLat, "Yellow Fused path (RANSAC)"); y += dy;

    if (v.lateral.valid) {
        const float st = curvature_to_steer_deg(
            v.lateral.curvature, v.vehicle.wheelbase_m, v.vehicle.steer_ratio);
        char buf[48];
        std::snprintf(buf, sizeof(buf), "Fused steer %.1f deg", static_cast<double>(st));
        cv::putText(img, buf, cv::Point(x0, y), kFont, 0.36, kClrSteerLbl, 1, cv::LINE_AA);
        y += dy;
    }
    if (v.auto_drive.valid) {
        const float curv = v.auto_drive.curvature_raw * v.vehicle.curv_scale;
        const float st = curvature_to_steer_deg(
            curv, v.vehicle.wheelbase_m, v.vehicle.steer_ratio);
        char buf[48];
        std::snprintf(buf, sizeof(buf), "AD steer %.1f deg (white wheel)", static_cast<double>(st));
        cv::putText(img, buf, cv::Point(x0, y), kFont, 0.36, kClrAdWheel, 1, cv::LINE_AA);
    }
}

static cv::Mat load_wheel_rgba(const fs::path& path, int size_px)
{