Mp/step3 raylib - #539
Merged
Merged
Mp/step3 raylib#539
Conversation
core_math is compiled once with WITH_GUI=0, but Session's layout depends on WITH_GUI (GUI builds add ManualPoseGraphLoopClosure, GroundControlPoints and ControlPoints). NDT::optimize(std::vector<Session>&) in core_math walked the GUI app's session vector with a 0x1e0 stride instead of 0x250, reading garbage for sessions[1] and segfaulting in multi_session_registration. Move that overload to ndt_session.cpp in CORE_BASE_SOURCES so it is built with the caller's WITH_GUI value; the rest of ndt.cpp stays in core_math (pose_graph_slam.cpp depends on it). Declare ndt_job in ndt.h for the split-out file. Co-Authored-By: Claude Opus 5.5 (1M context) <[email protected]>
It had been formatted with clang-format 18, whose layout of the std::thread argument list CI's clang-format 21 rejects. The function body is again byte-identical to the original in ndt.cpp. Co-Authored-By: Claude Opus 5.5 (1M context) <[email protected]> Claude-Session: https://claude.ai/code/session_015fZ2YByu6eAyC3Rvi6huo1
Session held ManualPoseGraphLoopClosure + GroundControlPoints + ControlPoints with WITH_GUI=1 but only PoseGraphLoopClosure with WITH_GUI=0, so core_math (built WITH_GUI=0) and GUI apps disagreed on sizeof(Session) -- the cause of the NDT multi-session crash. Data members are now unconditional in all four classes; only GUI methods stay behind #if. sizeof(Session) is 592 in both. Co-Authored-By: Claude Opus 5.5 (1M context) <[email protected]> Claude-Session: https://claude.ai/code/session_015fZ2YByu6eAyC3Rvi6huo1
Independent copy of apps/multi_session_registration as it is before the raylib port, mirroring multi_view_tls_registration_legacy for step 2. Added to the top-level CMake and to deploy_mandeye.bat's expected binaries. Co-Authored-By: Claude Opus 5.5 (1M context) <[email protected]> Claude-Session: https://claude.ai/code/session_015fZ2YByu6eAyC3Rvi6huo1
Same approach as step 2: camera/input/picking via raylib_widgets::OrbitCamera and step 2's helpers, points via core_raylib's ScanRenderer (one per session), rlImGui + ImGuizmo for the UI. Panels and menus are the GLUT code unchanged apart from renames. Intentional differences: - one point size (the loop closure window's value used to override the View menu and 1-9 keys every frame) - View > Points color: session color or step 2's intensity/height/distance shader gradients - index guards in loop closure rendering (GLUT could index with -1) - drag & drop of .mjp projects and .mjs/.json sessions, like step 2 Co-Authored-By: Claude Opus 5.5 (1M context) <[email protected]> Claude-Session: https://claude.ai/code/session_015fZ2YByu6eAyC3Rvi6huo1
Session's layout no longer depends on WITH_GUI (09c72a2), so core_math (WITH_GUI=0) and GUI apps already agree on sizeof(Session) and the split is not needed. NDT::optimize(std::vector<Session>&) walks sessions with the GUI apps' 0x250 stride again, and NDT on two forvia sessions solves as before. Co-Authored-By: Claude Opus 5.5 (1M context) <[email protected]> Claude-Session: https://claude.ai/code/session_015fZ2YByu6eAyC3Rvi6huo1
Each scan's flat render_color shaded by its normalized intensity (sqrt, with a 0.35 floor so dark points keep their hue). Keeps per-session colors apart while surfaces keep detail. Appended to ScanColorMode, so existing mode values and step 2 are unchanged. Co-Authored-By: Claude Opus 5.5 (1M context) <[email protected]> Claude-Session: https://claude.ai/code/session_015fZ2YByu6eAyC3Rvi6huo1
Replaces the earlier rewrite. multi_session_registration.cpp is the GLUT file with only its GL calls changed (~100 lines). New raylib_utils.h/.cpp provide the names it used from Core/utils.hpp on top of raylib_widgets::OrbitCamera (the old camera globals are references into it) plus small GL-style helpers (line strips, 3D text labels) and per-session ScanRenderer drawing. Also: View > Points color (session color shaded by intensity by default, or step 2's intensity/height/distance gradients), render downsampling default 2 (GPU buffers; GLUT needed 1000), and session colors red, blue, orange, green, magenta, cyan, yellow, violet, then a random hue seeded by index. Co-Authored-By: Claude Opus 5.5 (1M context) <[email protected]> Claude-Session: https://claude.ai/code/session_015fZ2YByu6eAyC3Rvi6huo1
- Drag & drop: *.mjp opens a project; *.mjs/*.json sessions are added and loaded right away (appended to already loaded sessions, which keep their in-memory state). loadSessions() is split into appendSession() and finishLoadingSessions() for this. - Command line: --mjp <project> and --mjs <session> [...]; bare arguments are classified by extension. Added sessions are loaded on startup. - File menu: "Save project" (Ctrl+S) writes to the opened/last saved project file, "Save project as..." (Ctrl+Shift+S) always asks. loadProject() now actually sets the window title and resets loaded_sessions (that code was unreachable after the return). - Loop closure: edge list with "Set Active" buttons. setActiveEdge() also syncs first/second_session_index and index_loop_closure_source/target (which the manipulate-edge view draws) and moves an active edge gizmo, which otherwise wrote the previous edge's pose into the new one. Removing edge 0 no longer leaves index_active_edge at -1. Co-Authored-By: Claude Opus 5.5 <[email protected]>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Port to raylib. Old GLUT code available as _legacy target.