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
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+/*
+Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef TANGO_TEXT_DRAWABLE_H_
+#define TANGO_TEXT_DRAWABLE_H_
+
+#include <vector>
+#include <rtabmap/core/Transform.h>
+#include <tango-gl/color.h>
+
+// PointCloudDrawable is responsible for the point cloud rendering.
+class TextDrawable {
+private:
+	static GLuint textProgram_;
+	static GLuint textTextureId_;
+	static float textUVWidth_;
+	static float textUVHeight_;
+	static float textHeight_;
+	static std::vector<float> textCharacterWidths_;
+
+public:
+	static void createShaderProgram();
+	static void releaseShaderProgram();
+
+public:
+	TextDrawable(
+			const std::string & text,
+			const rtabmap::Transform & pose,
+			float textSize = 0.1f, // meters
+			const tango_gl::Color & color = tango_gl::Color(1,0,0));
+
+  virtual ~TextDrawable() {}
+
+  void Render(
+		  const glm::mat4 & projectionMatrix,
+		  const glm::mat4 & viewMatrix,
+		  const glm::mat4 & viewMatrixRotInv) const;
+
+ private:
+	std::vector<float> vertexBuffer_;
+	std::vector<float> textureBuffer_;
+	std::vector<unsigned short> drawListBuffer_;
+	glm::mat4 poseGl_;
+	tango_gl::Color color_;
+};
+
+#endif  // TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_