Add E57 import and pose write-back to step 2 - #515
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Load E57 point clouds into multi_view_tls_registration (step 2) and write registered poses back into the source .e57 files. - Vendor Apache Xerces-C (v3.3.0) and libE57Format (v3.2.0) as git submodules, built statically from source; cmake/FindXercesC.cmake redirects libE57Format's find_package(XercesC) at the in-tree target so no system package is needed. - core/e57_utils: load_e57() decodes every Data3D block (cartesian or spherical coords, intensity, RGB, timestamps, embedded pose); rewrite_e57_poses() copies a file verbatim (points, all point fields, line groups, 2D images) while replacing selected Data3D poses, moving attached images by the same delta. - Step 2 GUI: "Open e57" menu item (pre-session and in File > Open) builds one PointCloud per scan using the embedded pose as the initial pose; E57 loads never write a session/result folder. "Update e57 poses" writes the current registered poses back, either overwriting the originals or as <name>_updated.e57. - PointCloud gains non-serialized e57_source_path / e57_scan_index for the write-back; File > Open is also reachable once a session is loaded. New mandeye::e57io::save_e57() writes a list of scans (borrowed point/ intensity/colour/timestamp buffers + a pose each) to a fresh multi-block .e57 file, streaming points in 1M-point chunks. Cartesian coordinates are written as double FloatNodes; intensity as 0..65535, colour as 0..255. Step 2 gains a File > "Save session as e57" item: one Data3D block per point cloud, points in scan-local frame, each block carrying m_pose (+ session offset) as its file-level pose. Round-trips through load_e57 (geometry, intensity, colour presence and pose verified). Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
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Load E57 point clouds into multi_view_tls_registration (step 2) and write registered poses back into the source .e57 files.
-Added submodules for Xerces and E57.
-Added option to load e57 to step2
-Added option to update e57 header
-Added option to save e57 from step2
-Added option to save e57 from lidar_trajectory_viewer.
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