feat(slam): add cartographer_ros

cartographer_ros/cartographer_rviz/ogre_media/materials/glsl120/glsl120.program

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+/*
+ * Copyright 2016 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+fragment_program cartographer_ros/glsl120/submap.frag glsl
+{
+  source submap.frag
+}
+
+vertex_program cartographer_ros/glsl120/submap.vert glsl
+{
+  source submap.vert
+}

cartographer_ros/cartographer_rviz/ogre_media/materials/glsl120/submap.frag

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+/*
+ * Copyright 2016 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#version 120
+
+varying vec2 out_submap_texture_coordinate;
+
+uniform sampler2D u_submap;
+uniform float u_alpha;
+
+void main()
+{
+  vec2 texture_value = texture2D(u_submap, out_submap_texture_coordinate).rg;
+  float value = u_alpha * texture_value.r;
+  float alpha = u_alpha * texture_value.g;
+  gl_FragColor = vec4(value, value, value, alpha);
+}

cartographer_ros/cartographer_rviz/ogre_media/materials/glsl120/submap.vert

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+/*
+ * Copyright 2016 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#version 120
+
+attribute vec4 uv0;
+
+varying vec2 out_submap_texture_coordinate;
+
+void main()
+{
+  out_submap_texture_coordinate = vec2(uv0);
+  gl_Position = ftransform();
+}

cartographer_ros/cartographer_rviz/ogre_media/materials/scripts/submap.material

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+/*
+ * Copyright 2016 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+material cartographer_ros/Submap
+{
+  technique
+  {
+    pass
+    {
+      vertex_program_ref cartographer_ros/glsl120/submap.vert {}
+
+      fragment_program_ref cartographer_ros/glsl120/submap.frag
+      {
+        param_named u_submap int 0
+        param_named u_alpha float 1.0
+      }
+    }
+  }
+}