feat: Demo sever, Video, Voxels and elements of VSLAM#2

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richiejp:feat/streaming-video-pointclouds

Commits on Jun 30, 2026

feat: streaming video → large coherent point clouds (+ DA3 studio demo, Vulkan)

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Commits on Jul 5, 2026

feat(geom): streaming de-ghosting — surface fusion, per-seam ICP, loop-closure pose-graph

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feat(metric): stream video point clouds in metres via the nested model

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feat(render): surfels, voxel mode, depth-weighted density, confidence-ordered additive reveal

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fix(backend): prefer a discrete GPU over the integrated one on multi-GPU boxes

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feat(stream): wire de-ghosting, metric + per-frame poses through the pipeline & C API

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feat(demo): video→point-cloud studio — bake controls, rendering modes, flythrough, reveal

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fix(backend): scale the ggml graph-node pool with the multi-view window size

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feat(demo): show the source video frame as a picture-in-picture during flythrough

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feat(fuse): normal-space TSDF that merges doubled surfaces (task A)

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feat(demo): expose TSDF voxel + merge-range as fusion sliders

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fix(fuse): keep the flythrough reveal frame-major after TSDF fusion

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fix(fuse): size fused splats to the voxel (dark/sparse surface) + linear colour

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feat(demo): voxel cubes follow the fusion grid; hide unused inputs per mode

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Commits on Jul 6, 2026

Commits on Jul 7, 2026

feat(diag): log flash-attn placement + backbone shape to explain VRAM

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