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https://github.com/introlab/rtabmap_ros.git
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Tango: added min texture cluster size option
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@@ -65,8 +65,8 @@ const std::string kPointCloudVertexShader =
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" vLightWeighting = 1.0;\n"
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" } else {\n"
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" vec3 transformedNormal = uN * aNormal;\n"
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" vLightWeighting = max(dot(transformedNormal, uLightingDirection), 0.0);\n"
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" if(vLightWeighting<0.1) vLightWeighting=0.1;\n"
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" vLightWeighting = max(dot(transformedNormal, uLightingDirection)*0.5+0.5, 0.0);\n"
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" if(vLightWeighting<0.5) vLightWeighting=0.5;\n"
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" }\n"
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" vColor = aColor;\n"
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"}\n";
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@@ -111,8 +111,8 @@ const std::string kTextureMeshVertexShader =
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" vLightWeighting = 1.0;\n"
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" } else {\n"
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" vec3 transformedNormal = uN * aNormal;\n"
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" vLightWeighting = max(dot(transformedNormal, uLightingDirection), 0.0);\n"
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" if(vLightWeighting<0.1) vLightWeighting=0.1;\n"
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" vLightWeighting = max(dot(transformedNormal, uLightingDirection)*0.5+0.5, 0.0);\n"
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" if(vLightWeighting<0.5) vLightWeighting=0.5;\n"
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" }\n"
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"}\n";
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const std::string kTextureMeshFragmentShader =
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