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CMake: added ANDROID_PREBUILD option

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This commit is contained in:
matlabbe
2017-07-13 13:36:34 -04:00
parent 85f7c1e73c
commit 517c70d855
7 changed files with 76 additions and 41 deletions
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8
CMakeLists.txt
View File

@@ -95,6 +95,14 @@ IF(APPLE)
SET(CMAKE_LIBRARY_PATH "/opt/local/lib;${CMAKE_LIBRARY_PATH}")
ENDIF()
####### ANDROID_PREBUILD (early exit if true) #######
OPTION( ANDROID_PREBUILD "Set to ON to build rtabmap resource build tool (required for android build)" OFF )
IF(ANDROID_PREBUILD)
MESSAGE("Option ANDROID_PREBUILD is set, only rtabmap resource tool will be built. You can use android toolchain after that.")
ADD_SUBDIRECTORY( utilite )
return()
ENDIF(ANDROID_PREBUILD)
####### Build libraries as shared or static #######
OPTION( BUILD_SHARED_LIBS "Set to OFF to build static libraries" ON )

2
corelib/src/CMakeLists.txt
View File

@@ -344,7 +344,7 @@ SET(RESOURCES_HEADERS
IF(ANDROID)
IF(NOT RTABMAP_RES_TOOL)
find_host_program(RTABMAP_RES_TOOL rtabmap-res_tool)
find_host_program(RTABMAP_RES_TOOL rtabmap-res_tool PATHS ${CMAKE_RUNTIME_OUTPUT_DIRECTORY})
IF(NOT RTABMAP_RES_TOOL)
MESSAGE( FATAL_ERROR "RTABMAP_RES_TOOL is not defined (it is the path to \"rtabmap-res_tool\" application created by a non-Android build)." )
ENDIF(NOT RTABMAP_RES_TOOL)

12
docker/xenial/android/Dockerfile
View File

@@ -1,6 +1,12 @@
# Image: introlab3it/rtabmap:android-deps
FROM introlab3it/rtabmap
FROM ubuntu:16.04
# Install build dependencies
RUN apt-get update && apt-get install -y \
git \
cmake \
software-properties-common
ENV ANDROID_HOME=/opt/android-sdk
ENV ANDROID_NATIVE_API_LEVEL=android-19
@@ -11,8 +17,8 @@ WORKDIR /root/
ADD setup_android_env.bash /root/setup_android_env.bash
RUN chmod +x setup_android_env.bash
RUN /bin/bash -c "./setup_android_env.bash"
RUN /bin/bash -c "./setup_android_env.bash /opt"
ADD install_deps.bash /root/install_deps.bash
RUN chmod +x install_deps.bash
RUN /bin/bash -c "./install_deps.bash"
RUN /bin/bash -c "./install_deps.bash /opt/android"

53
docker/xenial/android/install_deps.bash
View File

@@ -1,5 +1,18 @@
#!/bin/bash
if [ $# -ne 1 ]; then
echo "install_deps.bash android_install_prefix # Example: install_deps.bash /opt/android"
exit 1
fi
prefix=$1
pwd=$(pwd)
wget -nv https://github.com/introlab/rtabmap/raw/master/cmake_modules/android.toolchain.cmake
# Install directory for all dependencies
mkdir -p $prefix/armeabi-v7a
mkdir -p $prefix/arm64-v8a
# Boost
echo "wget boost..."
wget -nv https://downloads.sourceforge.net/project/boost/boost/1.59.0/boost_1_59_0.tar.gz
@@ -9,11 +22,11 @@ wget -nv https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/4
wget -nv https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/e7fbf0e301cfea417a7aa69989a761a4de08b8c3/CMakeLists.txt
mkdir build
cd build
cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/armeabi-v7a ..
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
make
make install
rm -r *
cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a ..
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
make
make install
cd
@@ -26,11 +39,11 @@ tar -xzf 3.2.7.tar.gz
cd eigen-eigen-b30b87236a1b
mkdir build
cd build
cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/armeabi-v7a ..
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
make
make install
rm -r *
cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a ..
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
make
make install
cd
@@ -43,11 +56,11 @@ unzip -qq flann-1.8.4-src.zip
cd flann-1.8.4-src
mkdir build
cd build
cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/armeabi-v7a ..
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
make
make install
rm -r *
cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a ..
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
make
make install
cd
@@ -62,11 +75,11 @@ wget -nv https://gist.github.com/matlabbe/726b490c658afd3293f4b3f2f501b863/raw/d
git apply gtsam_GKlib_android_fix.patch
mkdir build
cd build
cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DMETIS_SHARED=OFF -DGTSAM_BUILD_STATIC_LIBRARY=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/armeabi-v7a ..
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DMETIS_SHARED=OFF -DGTSAM_BUILD_STATIC_LIBRARY=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
make
make install
rm -r *
cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DMETIS_SHARED=OFF -DGTSAM_BUILD_STATIC_LIBRARY=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a ..
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DMETIS_SHARED=OFF -DGTSAM_BUILD_STATIC_LIBRARY=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
make
make install
cd
@@ -77,11 +90,11 @@ git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build
cd build
cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_LGPL_SHARED_LIBS=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/armeabi-v7a ..
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_LGPL_SHARED_LIBS=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
make
make install
rm -r *
cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_LGPL_SHARED_LIBS=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a ..
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_LGPL_SHARED_LIBS=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
make
make install
cd
@@ -100,13 +113,13 @@ cd VTK
git checkout tags/v7.1.1
mkdir build
cd build
~/cmake-3.7.2-Linux-x86_64/bin/cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_ANDROID_BUILD=ON -DANDROID_ARCH_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/armeabi-v7a ..
~/cmake-3.7.2-Linux-x86_64/bin/cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_ANDROID_BUILD=ON -DANDROID_ARCH_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
make
cp -r CMakeExternals/Install/vtk-android/* /opt/android/armeabi-v7a/.
cp -r CMakeExternals/Install/vtk-android/* $prefix/armeabi-v7a/.
rm -r *
~/cmake-3.7.2-Linux-x86_64/bin/cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_ANDROID_BUILD=ON -DANDROID_ARCH_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a ..
~/cmake-3.7.2-Linux-x86_64/bin/cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_ANDROID_BUILD=ON -DANDROID_ARCH_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
make
cp -r CMakeExternals/Install/vtk-android/* /opt/android/arm64-v8a/.
cp -r CMakeExternals/Install/vtk-android/* $prefix/arm64-v8a/.
cd
rm -r VTK cmake-3.7.2-Linux-x86_64
@@ -120,14 +133,14 @@ git apply pcl_1_8_0_vtk_android_support.patch
mkdir build
cd build
# do it 2 times because there is a cmake error on the first time and not the second time!?
cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/armeabi-v7a ..
cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/armeabi-v7a ..
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
make
make install
rm -r *
# do it 2 times because there is a cmake error on the first time and not the second time!?
cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a ..
cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a ..
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
make
make install
cd
@@ -143,11 +156,11 @@ cd opencv
git checkout tags/3.2.0
mkdir build
cd build
cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DCMAKE_INSTALL_PREFIX=/opt/android/armeabi-v7a ..
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DOPENCV_EXTRA_MODULES_PATH=$pwd/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
make
make install
rm -r *
cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a ..
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DOPENCV_EXTRA_MODULES_PATH=$pwd/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
make
make install
cd

7
docker/xenial/android/setup_android_env.bash
View File

@@ -22,9 +22,4 @@ echo "wget android-ndk..."
wget -nv https://dl.google.com/android/repository/android-ndk-r14-linux-x86_64.zip
unzip -qq android-ndk-r14-linux-x86_64.zip
rm android-ndk-r14-linux-x86_64.zip
mv android-ndk-r14 /opt/.
# Install directory for all dependencies
mkdir -p /opt/android/armeabi-v7a
mkdir -p /opt/android/arm64-v8a
wget -nv https://github.com/introlab/rtabmap/raw/master/cmake_modules/android.toolchain.cmake
mv android-ndk-r14 $ANDROID_NDK

2
docker/xenial/android/tango/Dockerfile
View File

@@ -6,6 +6,6 @@ WORKDIR /root/
ADD build.bash /root/build.bash
RUN chmod +x build.bash
RUN /bin/bash -c "./build.bash"
RUN /bin/bash -c "./build.bash /opt/android"
WORKDIR /root/

33
docker/xenial/android/tango/build.bash
View File

@@ -1,5 +1,12 @@
#!/bin/bash
if [ $# -ne 1 ]; then
echo "build.bash android_install_prefix # Example: build.bash /opt/android"
exit 1
fi
prefix=$1
# get rtabmap
git clone https://github.com/introlab/rtabmap.git rtabmap-tango
@@ -7,33 +14,39 @@ git clone https://github.com/introlab/rtabmap.git rtabmap-tango
wget https://developers.google.com/tango/downloads/TangoSDK_Ikariotikos_C.zip
unzip -qq TangoSDK_Ikariotikos_C.zip
rm TangoSDK_Ikariotikos_C.zip
cp -r lib_tango_client_api/include/* /opt/android/armeabi-v7a/include/.
cp -r lib_tango_client_api/include/* /opt/android/arm64-v8a/include/.
cp -r lib_tango_client_api/lib/armeabi-v7a/* /opt/android/armeabi-v7a/lib/.
cp -r lib_tango_client_api/lib/arm64-v8a/* /opt/android/arm64-v8a/lib/.
cp -r lib_tango_client_api/include/* $prefix/armeabi-v7a/include/.
cp -r lib_tango_client_api/include/* $prefix/arm64-v8a/include/.
cp -r lib_tango_client_api/lib/armeabi-v7a/* $prefix/armeabi-v7a/lib/.
cp -r lib_tango_client_api/lib/arm64-v8a/* $prefix/arm64-v8a/lib/.
rm -r lib_tango_client_api
wget https://developers.google.com/tango/downloads/TangoSupport_Ikariotikos_C.zip
unzip -qq TangoSupport_Ikariotikos_C.zip
rm TangoSupport_Ikariotikos_C.zip
cp -r lib_tango_support_api/include/* /opt/android/armeabi-v7a/include/.
cp -r lib_tango_support_api/include/* /opt/android/arm64-v8a/include/.
cp -r lib_tango_support_api/lib/armeabi-v7a/* /opt/android/armeabi-v7a/lib/.
cp -r lib_tango_support_api/lib/arm64-v8a/* /opt/android/arm64-v8a/lib/.
cp -r lib_tango_support_api/include/* $prefix/armeabi-v7a/include/.
cp -r lib_tango_support_api/include/* $prefix/arm64-v8a/include/.
cp -r lib_tango_support_api/lib/armeabi-v7a/* $prefix/armeabi-v7a/lib/.
cp -r lib_tango_support_api/lib/arm64-v8a/* $prefix/arm64-v8a/lib/.
cp -r lib_tango_support_api/lib/* rtabmap-tango/app/android/jni/third-party/lib/.
rm -r lib_tango_support_api
wget https://developers.google.com/tango/downloads/TangoSDK_Ikariotikos_Java.jar
mv TangoSDK_Ikariotikos_Java.jar rtabmap-tango/app/android/libs/.
# resource tool
mkdir rtabmap-tango/build
cd rtabmap-tango/build
cmake --DANDROID_PREBUILD=ON ..
make
# rtabmap
mkdir rtabmap-tango/build/armeabi-v7a
cd rtabmap-tango/build/armeabi-v7a
cmake -DCMAKE_TOOLCHAIN_FILE=../../cmake_modules/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DCMAKE_BUILD_TYPE=Release -DOpenCV_DIR=/opt/android/armeabi-v7a/sdk/native/jni -DCMAKE_INSTALL_PREFIX=/opt/android/armeabi-v7a ../..
cmake -DCMAKE_TOOLCHAIN_FILE=../../cmake_modules/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DCMAKE_BUILD_TYPE=Release -DOpenCV_DIR=$prefix/armeabi-v7a/sdk/native/jni -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ../..
make
cd
mkdir rtabmap-tango/build/arm64-v8a
cd rtabmap-tango/build/arm64-v8a
cmake -DCMAKE_TOOLCHAIN_FILE=../../cmake_modules/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DCMAKE_BUILD_TYPE=Release -DOpenCV_DIR=/opt/android/arm64-v8a/sdk/native/jni -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a ../..
cmake -DCMAKE_TOOLCHAIN_FILE=../../cmake_modules/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DCMAKE_BUILD_TYPE=Release -DOpenCV_DIR=$prefix/arm64-v8a/sdk/native/jni -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ../..
make
# package with binaries of both architectures