Add TUM trajectory support to Step 2, treated like GNSS - #487
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Loads TUM-format trajectories (Core/tum.h/.cpp), renders them as GPU point dots via a new ScanRenderer::PointsGPU cache (upload once, draw many, avoiding per-frame VAO/VBO churn), and draws correspondence lines to each scan's nearest local_trajectory sample by timestamp (matching timestamps.first in nanoseconds against TUM's Unix-epoch-seconds timestamp, scaled by 1e9). Also adds a manual-loop-closure "Fuse trajectory with TUM (trajectory is rigid)" action mirroring the existing GNSS one, via a new PoseGraphLoopClosure::FuseTrajectoryWithTUM(). Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Signed-off-by: Michal Pelka <michalpelka@gmail.com>
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Loads TUM-format trajectories (Core/tum.h/.cpp), renders them as GPU point dots via a new ScanRenderer::PointsGPU cache (upload once, draw many, avoiding per-frame VAO/VBO churn), and draws correspondence lines to each scan's nearest local_trajectory sample by timestamp (matching timestamps.first in nanoseconds against TUM's Unix-epoch-seconds timestamp, scaled by 1e9).
Also adds a manual-loop-closure "Fuse trajectory with TUM (trajectory is rigid)" action mirroring the existing GNSS one, via a new PoseGraphLoopClosure::FuseTrajectoryWithTUM().
Gallery:
TUM trajectory and correspondences
Tum registration:
After registration:
