before adding a custom view
removed mainstoryboard as main nib, got opengl to render a thing
before trying to render into a CALayer
using screenbounds variable in app delegate now
made an opengl view within the view controller
points not rendering still
well it definitely does something when i press the button
need to validate point methods
isolated the problem to the incorrect projection matrix:
there is something weird going on with the projection and camera viewpoint multiplications
matrix transformations correct
correctly tracks slam map
added save slam map button
saving slam map
added load from file button that currently throws an error