feat(slam): add rtabmap_ros

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

@@ -0,0 +1,29 @@
+/*
+ * 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/segment_drawable.h"
+
+namespace tango_gl {
+SegmentDrawable::SegmentDrawable() : tango_gl::Line(5.0f, GL_LINES) {
+  SetShader();
+  vec_vertices_.push_back(glm::vec3(0, 0, 0));
+  vec_vertices_.push_back(glm::vec3(1.f, 1.f, 1.f));
+}
+void SegmentDrawable::UpdateSegment(const Segment& segment) {
+  vec_vertices_[0] = segment.start;
+  vec_vertices_[1] = segment.end;
+}
+}  // namespace tango_gl