for serialization, do not use in normal use:

Local metric map for this key-frame. Points are already transformed from the sensor frame * to the vehicle ("base_link") frame. */

* Return a flat grid of nx*ny points at height z0, all sharing the same * view direction (vx, vy, vz). Points are spaced 1 m apart, centred near *

* Build a CGenericPointsMap populated with the provided points. * Each entry is {x, y, z, view_x, view_y, view_z}; the view vector * must be a unit

* Build a single-keyframe KeyframePointCloudMap from the given pointcloud. * * @param pc Source cloud (may carry view_{x,y,z} fields). * @pa

Sets the pose of the key-frame in the map reference frame

===================================== Read and update API =====================================

Append a single point to an existing pts vector.

Globally unique ID for this instance (stable for its lifetime). */

Schedules a nanogui performLayout() for `name` at the next frame. * Called from GUI-thread helpers that add or resize widgets. */

Must only be called from the GUI thread. The static maps below are not mutex-protected; thread safety relies on all callers running on the GUI thread

Return (x, y, z, w) for a pure-yaw rotation.

* Find the closing character that balances the *already-open* `otherStartChar` * encountered just before position `pos`. * * The search starts at `

Search pairings for one where local coords ≈ lp and global coords ≈ gp.

* Convenience variant for the ImGui backend: updates the public `display` * member in-place. Call this each frame; then read `display` directly.

========== Option structures ==========

========== Option structures ==========

========== Option structures ==========

========== Option structures ==========

Recursively builds nanogui widgets from a LeafWidget variant into `parent`. * Must be called from the GUI thread. */ NOLINTNEXTLINE(readability-func

Builds all widgets for one Tab into `tabPage`. Must run on GUI thread. */

Insert one point into the sparse grid map */

* Return `true` when the character at `pos` in `text` lies on a line whose * first non-whitespace content before `pos` is a YAML comment marker (`#`)