feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
@@ -0,0 +1,66 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * 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.
+ */
+
+#include "tango-gl/drawable_object.h"
+#include "tango-gl/shaders.h"
+
+namespace tango_gl {
+
+void DrawableObject::SetShader() {
+  shader_program_ =
+      util::CreateProgram(shaders::GetBasicVertexShader().c_str(),
+                          shaders::GetBasicFragmentShader().c_str());
+  if (!shader_program_) {
+    LOGE("Could not create program.");
+  }
+  uniform_mvp_mat_ = glGetUniformLocation(shader_program_, "mvp");
+  attrib_vertices_ = glGetAttribLocation(shader_program_, "vertex");
+  uniform_color_ = glGetUniformLocation(shader_program_, "color");
+}
+
+void DrawableObject::DeleteGlResources() {
+  if (shader_program_) {
+    glDeleteShader(shader_program_);
+  }
+}
+
+void DrawableObject::SetColor(float red, float green, float blue) {
+  red_ = red;
+  green_ = green;
+  blue_ = blue;
+}
+void DrawableObject::SetColor(const Color& color) {
+  SetColor(color.r, color.g, color.b);
+}
+
+void DrawableObject::SetAlpha(const float alpha) { alpha_ = alpha; }
+
+void DrawableObject::SetVertices(const std::vector<GLfloat>& vertices) {
+  vertices_ = vertices;
+}
+
+void DrawableObject::SetVertices(const std::vector<GLfloat>& vertices,
+                                 const std::vector<GLushort>& indices) {
+  vertices_ = vertices;
+  indices_ = indices;
+}
+
+void DrawableObject::SetVertices(const std::vector<GLfloat>& vertices,
+                                 const std::vector<GLfloat>& normals) {
+  vertices_ = vertices;
+  normals_ = normals;
+}
+}  // namespace tango_gl