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https://github.com/introlab/rtabmap.git
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android: fixed z-fighting on some android devices
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@@ -57,7 +57,7 @@ enum PointCloudShaders
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// PointCloud shaders
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const std::string kPointCloudVertexShader =
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"precision mediump float;\n"
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"precision highp float;\n"
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"precision mediump int;\n"
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"attribute vec3 aVertex;\n"
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"attribute vec3 aColor;\n"
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@@ -75,7 +75,7 @@ const std::string kPointCloudVertexShader =
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" vColor = aColor;\n"
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"}\n";
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const std::string kPointCloudLightingVertexShader =
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"precision mediump float;\n"
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"precision highp float;\n"
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"precision mediump int;\n"
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"attribute vec3 aVertex;\n"
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"attribute vec3 aNormal;\n"
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@@ -100,7 +100,7 @@ const std::string kPointCloudLightingVertexShader =
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"}\n";
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const std::string kPointCloudFragmentShader =
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"precision mediump float;\n"
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"precision highp float;\n"
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"precision mediump int;\n"
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"uniform float uGainR;\n"
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"uniform float uGainG;\n"
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@@ -127,7 +127,8 @@ const std::string kPointCloudBlendingFragmentShader =
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" vec4 textureColor = vec4(vColor.z, vColor.y, vColor.x, 1.0);\n"
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" float alpha = 1.0;\n"
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" vec2 coord = uScreenScale * gl_FragCoord.xy;\n;"
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" float depth = texture2D(uDepthTexture, coord).r;\n"
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" vec4 depthPacked = texture2D(uDepthTexture, coord);\n"
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" float depth = dot(depthPacked, 1./vec4(1.,255.,65025.,16581375.));\n"
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" float num = (2.0 * uNearZ * uFarZ);\n"
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" float diff = (uFarZ - uNearZ);\n"
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" float add = (uFarZ + uNearZ);\n"
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@@ -141,7 +142,7 @@ const std::string kPointCloudBlendingFragmentShader =
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"}\n";
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const std::string kPointCloudDepthPackingVertexShader =
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"precision mediump float;\n"
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"precision highp float;\n"
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"precision mediump int;\n"
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"attribute vec3 aVertex;\n"
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"uniform mat4 uMVP;\n"
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@@ -154,15 +155,15 @@ const std::string kPointCloudDepthPackingFragmentShader =
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"precision highp float;\n"
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"precision mediump int;\n"
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"void main() {\n"
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" float toFixed = 255.0/256.0;\n"
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" vec4 enc = vec4(1.0, 255.0, 65025.0, 160581375.0) * toFixed * gl_FragCoord.z;\n"
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" vec4 enc = vec4(1.,255.,65025.,16581375.) * gl_FragCoord.z;\n"
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" enc = fract(enc);\n"
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" enc -= enc.yzww * vec2(1./255., 0.).xxxy;\n"
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" gl_FragColor = enc;\n"
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"}\n";
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// Texture shaders
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const std::string kTextureMeshVertexShader =
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"precision mediump float;\n"
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"precision highp float;\n"
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"precision mediump int;\n"
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"attribute vec3 aVertex;\n"
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"attribute vec2 aTexCoord;\n"
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@@ -185,7 +186,7 @@ const std::string kTextureMeshVertexShader =
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" vLightWeighting = 1.0;\n"
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"}\n";
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const std::string kTextureMeshLightingVertexShader =
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"precision mediump float;\n"
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"precision highp float;\n"
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"precision mediump int;\n"
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"attribute vec3 aVertex;\n"
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"attribute vec3 aNormal;\n"
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@@ -214,7 +215,7 @@ const std::string kTextureMeshLightingVertexShader =
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" vLightWeighting=0.5;\n"
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"}\n";
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const std::string kTextureMeshFragmentShader =
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"precision mediump float;\n"
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"precision highp float;\n"
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"precision mediump int;\n"
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"uniform sampler2D uTexture;\n"
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"uniform float uGainR;\n"
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@@ -245,7 +246,8 @@ const std::string kTextureMeshBlendingFragmentShader =
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" vec4 textureColor = texture2D(uTexture, vTexCoord);\n"
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" float alpha = 1.0;\n"
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" vec2 coord = uScreenScale * gl_FragCoord.xy;\n;"
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" float depth = texture2D(uDepthTexture, coord).r;\n"
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" vec4 depthPacked = texture2D(uDepthTexture, coord);\n"
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" float depth = dot(depthPacked, 1./vec4(1.,255.,65025.,16581375.));\n"
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" float num = (2.0 * uNearZ * uFarZ);\n"
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" float diff = (uFarZ - uNearZ);\n"
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" float add = (uFarZ + uNearZ);\n"
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