Trajectory viewer: flyover playback, LiDAR range filter and local-depth coloring

[michalpelka]

Summary

Flyover (View → Flyover, Shift+F)

• Moves the camera along the LiDAR trajectory. A bottom bar has a scrubbable timeline, play/pause, a real-time speed control and an option to keep the selected camera image in sync with the playhead.
• The camera pose is a Hann-weighted average of the trajectory poses within ±N s of the playhead (default 1 s). This removes walking sway and hand shake without lag, and the same playhead time always gives the same view.
• Level horizon (on by default) drops roll and keeps heading and pitch.
• OrbitCamera::setViewPose() places the camera at a LiDAR-axes pose. Mouse orbit/pan/zoom don't apply while the flyover bar is open.

Point rendering

• Each LIO chunk is its own GPU part in chunk-local coordinates, placed by its MRP pose at draw time.
• The vertex shrinks from 28 to 24 bytes:
  • intensity as uint16
  • per-point LiDAR range as int16 cm (up to 327.67 m)
  • camera id as int32, where -2 = rejected by ROI/mask; this replaces the separate in-ROI float
• Min/Max range (View menu) hides points by their distance from the LiDAR when they were captured, e.g. the operator or noisy far returns.
• New Local depth color mode: jet over that range, with a color scale in the view's top-right corner.

calib_core

• Trajectory::nearest returns std::optional<std::reference_wrapper<const TrajPose>> instead of a raw pointer, with a new nearest(float) overload.
• New: Trajectory::timeAt, Trajectory::smoothedPose and calib::levelHorizon, with tests.

Notes

• In ROI / mask mode: the mode is now derived from the camera id. With the ROI filter disabled, a point outside the ROI that still got colored now shows green; before, it showed red.
• Level horizon: it keeps pitch, so a LiDAR mounted tilted down still looks down during a flyover.

Test plan

• camera_lidar_trajectory_viewer, camera_lidar_calibration and core_raylib build, with no new warnings in TrajectoryViewer.cpp.
• calib_core_tests: 51/51 pass, including new smoothing and level-horizon tests.
• Point shaders compile and link at startup (raylib log).
• clang-format 21 is clean on the changed apps/ files.
• Load a session and check:
  • Flyover smoothness and Level horizon
  • Min/Max range
  • Local depth mode and its color scale
  • In ROI / mask colors

🤖 Generated with Claude Code

[michalpelka]

https://youtu.be/VtBCgioDaMA