feat(slam): add rtabmap_ros

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

@@ -0,0 +1,95 @@
+/*
+ * 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/shaders.h"
+
+namespace tango_gl {
+namespace shaders {
+std::string GetBasicVertexShader() {
+  return "precision mediump float;\n"
+         "precision mediump int;\n"
+         "attribute vec4 vertex;\n"
+         "uniform mat4 mvp;\n"
+         "uniform vec4 color;\n"
+         "varying vec4 v_color;\n"
+         "void main() {\n"
+         "  gl_Position = mvp*vertex;\n"
+         "  v_color = color;\n"
+         "}\n";
+}
+
+std::string GetBasicFragmentShader() {
+  return "precision mediump float;\n"
+         "varying vec4 v_color;\n"
+         "void main() {\n"
+         "  gl_FragColor = v_color;\n"
+         "}\n";
+}
+
+std::string GetColorVertexShader() {
+  return "precision mediump float;\n"
+         "precision mediump int;\n"
+         "attribute vec4 vertex;\n"
+         "attribute vec4 color;\n"
+         "uniform mat4 mvp;\n"
+         "varying vec4 v_color;\n"
+         "void main() {\n"
+         "  gl_Position = mvp*vertex;\n"
+         "  v_color = color;\n"
+         "}\n";
+}
+
+std::string GetVideoOverlayVertexShader() {
+  return "precision highp float;\n"
+         "precision highp int;\n"
+         "attribute vec4 vertex;\n"
+         "attribute vec2 textureCoords;\n"
+         "varying vec2 f_textureCoords;\n"
+         "uniform mat4 mvp;\n"
+         "void main() {\n"
+         "  f_textureCoords = textureCoords;\n"
+         "  gl_Position = mvp * vertex;\n"
+         "}\n";
+}
+
+std::string GetVideoOverlayFragmentShader() {
+  return "#extension GL_OES_EGL_image_external : require\n"
+         "precision highp float;\n"
+         "precision highp int;\n"
+         "uniform samplerExternalOES texture;\n"
+         "varying vec2 f_textureCoords;\n"
+         "void main() {\n"
+         "  gl_FragColor = texture2D(texture, f_textureCoords);\n"
+         "}\n";
+}
+
+std::string GetShadedVertexShader() {
+  return "attribute vec4 vertex;\n"
+         "attribute vec3 normal;\n"
+         "uniform mat4 mvp;\n"
+         "uniform mat4 mv;\n"
+         "uniform vec4 color;\n"
+         "uniform vec3 lightVec;\n"
+         "varying vec4 v_color;\n"
+         "void main() {\n"
+         "  vec3 mvNormal = vec3(mv * vec4(normal, 0.0));\n"
+         "  float diffuse = max(-dot(mvNormal, lightVec), 0.0);\n"
+         "  v_color.a = color.a;\n"
+         "  v_color.xyz = color.xyz * diffuse + color.xyz * 0.3;\n"
+         "  gl_Position = mvp*vertex;\n"
+         "}\n";
+}
+}  // namespace shaders
+}  // namespace tango_gl