feat(slam): add rtabmap_ros

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

@@ -0,0 +1,47 @@
+/*
+ * 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/grid.h"
+
+namespace tango_gl {
+
+// Initialize Grid with x and y grid count,
+// qx, quantity in x
+// qy, quantity in y.
+Grid::Grid(float density, int qx, int qy) : Line(1.0f, GL_LINES) {
+  SetShader();
+
+  // 3 float in 1 vertex, 2 vertices form a line.
+  // Horizontal line and vertical line forms the grid.
+  float width = density * qx / 2;
+  float height = density * qy / 2;
+
+  // Horizontal line.
+  for (int i = 0; i < (qy + 1); i++) {
+	  for (int j = 0; j < (qx + 1); j++) {
+		vec_vertices_.push_back(glm::vec3(-width + j*density, 0.0f, -height + i * density));
+		vec_vertices_.push_back(glm::vec3(-width+ + (j+1)*density, 0.0f, -height + i * density));
+	  }
+  }
+
+  for (int i = 0; i < (qx + 1); i++) {
+	  for (int j = 0; j < (qy + 1); j++) {
+		vec_vertices_.push_back(glm::vec3(-width + i * density, 0.0f, -height + j*density));
+		vec_vertices_.push_back(glm::vec3(-width + i * density, 0.0f, -height + (j+1)*density));
+	  }
+  }
+}
+}  // namespace tango_gl