Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option

app/android/jni/point_cloud_drawable.h

@@ -40,18 +40,21 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 // PointCloudDrawable is responsible for the point cloud rendering.
 class PointCloudDrawable {
+public:
+	static void createShaderPrograms();
+	static void releaseShaderPrograms();
+
+private:
+	static std::vector<GLuint> shaderPrograms_;
+
  public:
   PointCloudDrawable(
-		  GLuint cloudShaderProgram,
-		  GLuint textureShaderProgram,
   		  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
 		  const pcl::IndicesPtr & indices,
 		  float gainR = 1.0f,
 		  float gainG = 1.0f,
 		  float gainB = 1.0f);
   PointCloudDrawable(
-  		  GLuint cloudShaderProgram,
-  		  GLuint textureShaderProgram,
     	  const Mesh & mesh);
   virtual ~PointCloudDrawable();
 
@@ -77,7 +80,8 @@ class PointCloudDrawable {
   // @param view_mat: view matrix from current render camera.
   // @param model_mat: model matrix for this point cloud frame.
   // @param vertices: all vertices in this point cloud frame.
-  void Render(const glm::mat4 & projectionMatrix,
+  void Render(
+		  const glm::mat4 & projectionMatrix,
 		  const glm::mat4 & viewMatrix,
 		  bool meshRendering = true,
 		  float pointSize = 3.0f,
@@ -85,9 +89,11 @@ class PointCloudDrawable {
 		  bool lighting = true,
 		  float distanceToCamSqr = 0.0f,
 		  const GLuint & depthTexture = 0,
-		  int screenWidth = 0,
-		  int screenHeight = 0,
-		  bool packDepthToColorChannel = false);
+		  int screenWidth = 0,     // nonnull if depthTexture>0
+		  int screenHeight = 0,    // nonnull if depthTexture>0
+		  float nearClipPlane = 0, // nonnull if depthTexture>0
+		  float farClipPlane = 0,  // nonnull if depthTexture>0
+		  bool packDepthToColorChannel = false) const;
 
  private:
   template<class PointT>
@@ -117,9 +123,6 @@ class PointCloudDrawable {
   bool hasNormals_;
   std::vector<unsigned int> organizedToDenseIndices_;
 
-  GLuint cloud_shader_program_;
-  GLuint texture_shader_program_;
-
   float gainR_;
   float gainG_;
   float gainB_;