feat(slam): add rtabmap_ros

rtabmap/app/android/jni/tango-gl/frustum.cpp

@@ -0,0 +1,38 @@
+/*
+ * 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/frustum.h"
+
+namespace tango_gl {
+
+static const float float_vertices[] = {
+    0.0f,  0.0f,  0.0f,  -1.0f, 1.0f,  -1.0f,
+	0.0f,  0.0f,  0.0f,  1.0f, 1.0f,  -1.0f,
+	0.0f,  0.0f,  0.0f,  -1.0f, -1.0f, -1.0f,
+	0.0f,  0.0f,  0.0f,  1.0f,  -1.0f, -1.0f,
+	-1.0f, 1.0f,  -1.0f, 1.0f,  1.0f,  -1.0f,
+    1.0f,  1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f,
+	1.0f,  -1.0f, -1.0f, -1.0f, -1.0f, -1.0f,
+	-1.0f, -1.0f, -1.0f, -1.0f, 1.0f,  -1.0f};
+
+Frustum::Frustum() : Line(3.0f, GL_LINES) {
+  SetShader();
+  size_t size = sizeof(float_vertices) / sizeof(float);
+  for (size_t i = 0; i < size; i += 3) {
+    vec_vertices_.push_back(glm::vec3(float_vertices[i], float_vertices[i + 1],
+                                      float_vertices[i + 2]));
+  }
+}
+}  // namespace tango_gl