Since BGRABitmap runs entirely on the CPU (software rasterization), it has zero dependencies on a GPU, X Server, or OpenGL context. It will never crash because of a missing monitor. It simply manipulates bytes in RAM, which is exactly what you need for a headless robot.

Since we aren't using OpenGL, we have to calculate the 3D-to-2D Projection manually. This is actually quite simple: it's just high-school trigonometry (similar triangles).

Here is the math we will use:

1. Shift: Move the point based on where we want the "Camera" to be.

2. Project: ScreenX = (PointX / PointZ) * Zoom.

Here is the Pascal code to render your dots.bin data onto a BGRABitmap.

Pascal Rendering Unit (VoRender.pas)

You can add this function to your Pascal project. It takes your TPointCloud array and paints it onto a bitmap.

uses
  BGRABitmap, BGRABitmapTypes, Math;

// Matches your Rust data
type
  TPoint3D = packed record
    X: Int32;
    Y: Int32;
    Z: Int32;
  end;
  TPointCloud = array of TPoint3D;

const
  // --- VIRTUAL CAMERA SETTINGS ---
  // We place the camera High (-500 Y) and Behind (-1000 Z) the origin
  // to look "Down and Forward" at the data.
  CAM_X = 0;
  CAM_Y = -500; 
  CAM_Z = -1000; 
  
  FOCAL_LENGTH = 600; // Acts like "Zoom"

procedure RenderCloudToBitmap(Cloud: TPointCloud; TargetBmp: TBGRABitmap);
var
  i: Integer;
  WX, WY, WZ: Integer; // World Coordinates (shifted)
  SX, SY: Integer;     // Screen Coordinates
  CenterX, CenterY: Integer;
  DepthColor: Byte;
  P: PBGRAPixel;
begin
  // 1. Clear Background (Black)
  TargetBmp.Fill(BGRA(0, 0, 0, 255));

  CenterX := TargetBmp.Width div 2;
  CenterY := TargetBmp.Height div 2;

  // 2. Iterate over all points
  for i := 0 to High(Cloud) do
  begin
    // --- A. CAMERA TRANSFORM ---
    // Shift the world so it is relative to our camera position
    WX := Cloud[i].X - CAM_X;
    WY := Cloud[i].Y - CAM_Y;
    WZ := Cloud[i].Z - CAM_Z;

    // prevent division by zero or drawing points behind us
    if WZ <= 10 then Continue; 

    // --- B. PERSPECTIVE PROJECTION ---
    // The fundamental formula: Screen = (World / Depth) * FocalLength
    SX := CenterX + (WX * FOCAL_LENGTH) div WZ;
    SY := CenterY + (WY * FOCAL_LENGTH) div WZ;

    // --- C. DRAWING ---
    // Check bounds
    if (SX >= 0) and (SX < TargetBmp.Width) and 
       (SY >= 0) and (SY < TargetBmp.Height) then
    begin
      // Depth Shading: Make close points bright, far points dark
      // Map Z (e.g. 1000 to 5000) to Brightness (255 to 50)
      DepthColor := EnsureRange(255 - (WZ div 30), 50, 255);
      
      // Set the pixel (White/Gray based on depth)
      TargetBmp.SetPixel(SX, SY, BGRA(DepthColor, DepthColor, DepthColor, 255));
    end;
  end;
end;

How to Integrate into your Server

In your RunUdsServer loop, right after you load the points:

1. Create a global MyBitmap := TBGRABitmap.Create(800, 600);

2. Call RenderCloudToBitmap(MyCloud, MyBitmap);

3. Save or Transmit MyBitmap.

Example snippet for the inner loop:

if Cmd = 'R' then
        begin
          // 1. Load Data
          LoadPointCloud(SHM_FILE_PATH, MyCloud);

          // 2. Render to Memory (CPU only, no OpenGL)
          RenderCloudToBitmap(MyCloud, MyBitmap);

          // 3. Visualize (Since you are headless)
          // Option A: Save to file for checking
          // MyBitmap.SaveToFile('/dev/shm/render_debug.bmp');
          
          // Option B: If running VNC, draw to a Form's Image
          // MyBitmap.Draw(Form1.Image1.Canvas, 0, 0);

          // 4. Handshake Done
          Cmd := 'D';
          fpSend(ClientHandle, @Cmd, 1, 0);
        end;

This approach is 100% headless safe. It treats the 3D rendering purely as a math problem, processing arrays of integers into pixels in RAM.