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 +1,121 @@
+/*
+ * 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/video_overlay.h"
+#include "tango-gl/shaders.h"
+
+namespace tango_gl {
+
+static const GLfloat kVertices[] =
+  {-1.0,  1.0, 0.0,
+   -1.0, -1.0, 0.0,
+    1.0,  1.0, 0.0,
+    1.0, -1.0, 0.0};
+
+static const GLushort kIndices[] =
+  {0, 1, 2, 2, 1, 3};
+
+static const GLfloat kTextureCoords[] =
+  {0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0};
+
+VideoOverlay::VideoOverlay() {
+  glEnable(GL_VERTEX_PROGRAM_POINT_SIZE);
+  shader_program_ =
+      util::CreateProgram(shaders::GetVideoOverlayVertexShader().c_str(),
+                          shaders::GetVideoOverlayFragmentShader().c_str());
+  if (!shader_program_) {
+    LOGE("Could not create program.");
+  }
+
+  glGenTextures(1, &texture_id_);
+  glBindTexture(GL_TEXTURE_EXTERNAL_OES, texture_id_);
+  glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+  glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+  uniform_texture_ = glGetUniformLocation(shader_program_, "texture");
+
+  glGenBuffers(3, vertex_buffers_);
+  // Allocate vertices buffer.
+  glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_[0]);
+  glBufferData(GL_ARRAY_BUFFER, sizeof(GLfloat) * 3 * 4, kVertices,
+               GL_STATIC_DRAW);
+  glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+  // Allocate triangle indices buffer.
+  glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vertex_buffers_[1]);
+  glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(GLushort) * 6, kIndices,
+               GL_STATIC_DRAW);
+  glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+
+  // Allocate texture coordinates buufer.
+  glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_[2]);
+  glBufferData(GL_ARRAY_BUFFER, sizeof(GLfloat) * 2 * 4, kTextureCoords,
+               GL_STATIC_DRAW);
+  glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+  // Assign the vertices attribute data.
+  attrib_vertices_ = glGetAttribLocation(shader_program_, "vertex");
+  glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_[0]);
+  glEnableVertexAttribArray(attrib_vertices_);
+  glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE, 0, nullptr);
+  glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+  // Assign the texture coordinates attribute data.
+  attrib_texture_coords_ = glGetAttribLocation(shader_program_, "textureCoords");
+  glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_[2]);
+  glEnableVertexAttribArray(attrib_texture_coords_);
+  glVertexAttribPointer(attrib_texture_coords_, 2, GL_FLOAT, GL_FALSE, 0,
+                        nullptr);
+  glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+  uniform_mvp_mat_ = glGetUniformLocation(shader_program_, "mvp");
+}
+
+void VideoOverlay::Render(const glm::mat4& projection_mat,
+                          const glm::mat4& view_mat) const {
+  glUseProgram(shader_program_);
+
+  glUniform1i(uniform_texture_, 0);
+  glActiveTexture(GL_TEXTURE0);
+  glBindTexture(GL_TEXTURE_EXTERNAL_OES, texture_id_);
+
+  glm::mat4 model_mat = GetTransformationMatrix();
+  glm::mat4 mvp_mat = projection_mat * view_mat * model_mat;
+  glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+
+  // Bind vertices buffer.
+  glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_[0]);
+  glEnableVertexAttribArray(attrib_vertices_);
+  glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE, 0, nullptr);
+  glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+  // Bind texture coordinates buffer.
+  glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_[2]);
+  glEnableVertexAttribArray(attrib_texture_coords_);
+  glVertexAttribPointer(attrib_texture_coords_, 2, GL_FLOAT, GL_FALSE, 0,
+                        nullptr);
+  glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+  // Bind element array buffer.
+  glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vertex_buffers_[1]);
+  glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_SHORT, 0);
+  util::CheckGlError("glDrawElements");
+  glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+
+  glUseProgram(0);
+  util::CheckGlError("glUseProgram()");
+}
+
+}  // namespace tango_gl