[michalpelka]

Summary

lidar_odometry_step_1 and mandeye_raw_data_viewer now run on raylib + rlImGui instead of GLUT + legacy OpenGL. The GLUT builds stay available as lidar_odometry_step_1_legacy and mandeye_raw_data_viewer_legacy, as was done for step 2 and step 3.

Port (8203aac)

• Shared drawing helpers: step 3's raylib replacement for <Core/utils.hpp> moves into a shared core_raylib_utils library (Core/raylib_utils.hpp). The ported apps keep their code; only their GL calls change.
• New in the shared module:
  • a per-vertex-colour point batch, since rlgl has no GL_POINTS
  • draw_ellipse
  • an ortho-aware reshape
  • intensity shading that matches ScanRenderer's FlatIntensity mode
  • dropped-file handling
  • Windows taskbar progress, in its own source file because windows.h clashes with raylib.h
• Drag & drop:
  • step 1: dropping a data folder starts processing
  • raw viewer: dropped folders and files load
• Intensity shading is on by default, with a View menu toggle.
• implot_raylib builds ImPlot for the raw viewer's IMU plots.
• Wide lines are drawn 1 px wide (the OpenGL core profile doesn't support other widths).

Step 1 follow-ups (fb04077)

• Safe quit during a run:
  • Closing the window while odometry runs asks "Quit anyway?".
  • On Yes, the run is paused. Once step 2 stops at its pause point (new parked flag on compute_step_2) or finishes, the cache is removed and the process exits with std::_Exit. This keeps the detached worker from crashing in global destructors or reading a deleted cache.
  • mainLoop() takes an optional close_requested callback. The close is cancelled through GLFW's own window handle (glfwGetCurrentContext). raylib's GetWindowHandle() returns the native NSWindow* / HWND, and writing the flag through it corrupts memory.
• Loading modal: opening data (drag & drop, Ctrl+O, menu) first shows a "Loading data" modal, then runs the blocking step 1. Drops and Ctrl+O are ignored while a load is pending or a run is in progress.
• Bucket intensity:
  • NDT::Bucket keeps a running mean intensity. It is display only, so odometry results are unchanged, and it fits in existing padding, so the struct size is unchanged.
  • Reference buckets are shaded by intensity under the "Intensity shading" toggle.
  • Indoor buckets are shown by default.

Testing

• The full release build passes on macOS. clang-format 21 was applied.
• The quit-during-run crash on macOS (from writing through GetWindowHandle()) is fixed in this branch. The quit flow hasn't been re-run since that fix.
• Not yet tested on Windows or Linux.

🤖 Generated with Claude Code

[michalpelka]

I need to test it on Windows :painful:

[michalpelka]

Done, works on Mac and Windows. Will probably work on Linux.