Honor "Show with initial pose" in step 2 raylib renderer - #520
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michalpelka wants to merge 1 commit into
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Honor "Show with initial pose" in step 2 raylib renderer#520michalpelka wants to merge 1 commit into
michalpelka wants to merge 1 commit into
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The GLUT->raylib port of multi_view_tls_registration replaced PointCloud::render() (which branches on show_with_initial_pose) with ScanRenderer, whose draw()/drawTrajectories() only ever render at m_pose. The "Show with initial pose" checkbox therefore had no visible effect on the point clouds or trajectories in step 2 -- it only still influenced observation-picking intersection points and compute_rms(). This affected every session type; it was reported (#517) against E57 import because that's where comparing imported vs. registered poses is the first thing you do. Add a useInitialPose flag to ScanRenderer::draw()/drawTrajectories(). The cached GPU buffers stay baked at m_pose; when the flag is set the per-scan delta (m_initial_pose * m_pose^-1) is folded into the MVP for that scan only -- the same technique drawCachedWithTransform() uses to preview a pose, so no buffer re-upload. The trajectory polyline uses the same MVP fold; the CPU-side overlays (IMU-diff lines, square outlines, orientation crosses) use m_initial_pose directly. The main display() call sites pass session.point_clouds_container.show_with_initial_pose; the loop-closure editor and single-scan preview draw() call sites are left at m_pose. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01FQ48ovXb5eJap4YZoPXoVd
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The GLUT->raylib port of multi_view_tls_registration replaced PointCloud::render() (which branches on show_with_initial_pose) with ScanRenderer, whose draw()/drawTrajectories() only ever render at m_pose. The "Show with initial pose" checkbox therefore had no visible effect on the point clouds or trajectories in step 2 -- it only still influenced observation-picking intersection points and compute_rms(). This affected every session type; it was reported (#517) against E57 import because that's where comparing imported vs. registered poses is the first thing you do.
Add a useInitialPose flag to ScanRenderer::draw()/drawTrajectories(). The cached GPU buffers stay baked at m_pose; when the flag is set the per-scan delta (m_initial_pose * m_pose^-1) is folded into the MVP for that scan only -- the same technique drawCachedWithTransform() uses to preview a pose, so no buffer re-upload. The trajectory polyline uses the same MVP fold; the CPU-side overlays (IMU-diff lines, square outlines, orientation crosses) use m_initial_pose directly. The main display() call sites pass session.point_clouds_container.show_with_initial_pose; the loop-closure editor and single-scan preview draw() call sites are left at m_pose.
fixes #517