Large pointclouds, quality of live to step 3. - #540
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- Manual loop closure: add a Delete button to each edge row, replacing "remove active edge". Deletion happens after the list is drawn and keeps index_active_edge pointing at the same edge. - Entering loop closure mode drops the session gizmo selection and disables the session Gizmo radio buttons, since session gizmos are not drawn there and would block the edge gizmo. - Bind Ctrl+M to toggle Manual Loop Closure (the menu wrongly showed Ctrl+L, which is Load sessions) and list it in the shortcuts table. - Add File > "Save session poses". save_results() now reports poses files that failed to write instead of ignoring the result. Co-Authored-By: Claude Opus 5.5 (1M context) <[email protected]>
rlLoadVertexBuffer() takes the byte size as int. TrajectoryViewer stores 28 bytes per point, so a 105M-point cloud (2.95 GB) overflowed it, the buffer got no storage and glDrawArrays segfaulted. ScanRenderer (steps 2 and 3) and the camera_lidar_calibration Renderer have the same limit at 16 bytes per point (~134M points). Add RaylibWidgets/PointBufferParts.h, which uploads interleaved vertices as VAO/VBO parts of at most 16M points and draws them one glDrawArrays per part, and use it in all three renderers. The part struct lives in its own GL-free header so raylib_render.hpp and Renderer.h don't pull in glad.h. gl_VertexID-based sparse drawing now restarts at each part. Co-Authored-By: Claude Opus 5.5 (1M context) <[email protected]>
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