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fixed ios build

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This commit is contained in:
matlabbe
2021-06-11 10:20:07 -04:00
parent 3e3d4142fc
commit a6f3a81999
2 changed files with 10 additions and 5 deletions
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4
app/android/jni/background_renderer.cc
View File

@@ -80,7 +80,9 @@ const std::string kFragmentShader =
void BackgroundRenderer::InitializeGlContent(GLuint textureId, bool oes)
{
texture_id_ = textureId;
#ifdef __ANDROID__
oes_ = oes;
#endif
shader_program_ = tango_gl::util::CreateProgram(
kVertexShader.c_str(),
@@ -102,9 +104,11 @@ void BackgroundRenderer::Draw(const float * transformed_uvs) {
glEnable (GL_BLEND);
glActiveTexture(GL_TEXTURE0);
#ifdef __ANDROID__
if(oes_)
glBindTexture(GL_TEXTURE_EXTERNAL_OES, texture_id_);
else
#endif
glBindTexture(GL_TEXTURE_2D, texture_id_);
glVertexAttribPointer(attribute_vertices_, 2, GL_FLOAT, GL_FALSE, 0, BackgroundRenderer_kVertices);

11
app/ios/RTABMapApp/NativeWrapper.cpp
View File

@@ -276,7 +276,7 @@ void postCameraPoseEventNative(const void *object,
{
if(object)
{
native(object)->postCameraPoseEvent(x,y,z,qx,qy,qz,qw);
native(object)->postCameraPoseEvent(x,y,z,qx,qy,qz,qw,0.0);
}
else
{
@@ -300,14 +300,15 @@ void postOdometryEventNative(const void *object,
if(object)
{
native(object)->postOdometryEvent(
x,y,z,qx,qy,qz,qw,
fx,fy,cx,cy,
stamp,
rtabmap::Transform(x,y,z,qx,qy,qz,qw),
fx,fy,cx,cy, 0,0,0,0,
rtabmap::Transform(), rtabmap::Transform(),
stamp, 0,
yPlane, uPlane, vPlane, yPlaneLen, rgbWidth, rgbHeight, rgbFormat,
depth, depthLen, depthWidth, depthHeight, depthFormat,
conf, confLen, confWidth, confHeight, confFormat,
(const float *)points, pointsLen, pointsChannels,
vx, vy, vz, vqx, vqy, vqz, vqw,
rtabmap::Transform(vx, vy, vz, vqx, vqy, vqz, vqw),
p00, p11, p02, p12, p22, p32, p23,
t0, t1, t2, t3, t4, t5, t6, t7);
}