Updated cmake for ARM/Android build

CMakeLists.txt

@@ -119,6 +119,9 @@ set(INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR} CACHE PATH
 IF(APPLE)
 	OPTION(BUILD_AS_BUNDLE "Set to ON to build as bundle (DragNDrop)" OFF)
 ENDIF(APPLE)
+OPTION(BUILD_APP "Build main application" ON)
+OPTION(BUILD_TOOLS "Build tools" ON)
+OPTION(BUILD_EXAMPLES "Build examples" ON)
 
 ####### DEPENDENCIES #######
 
@@ -135,6 +138,20 @@ option(WITH_FLYCAPTURE2   "Include FlyCapture2/Triclops support" ON)
 FIND_PACKAGE(OpenCV REQUIRED QUIET)
 FIND_PACKAGE(PCL 1.7 REQUIRED QUIET)
 FIND_PACKAGE(ZLIB REQUIRED QUIET)
+
+# OpenMP ("-fopenmp" should be added for flann included in PCL)
+# the gcc-4.2.1 coming with MacOS X is not compatible with the OpenMP pragmas we use, so disabling OpenMP for it
+if((NOT APPLE) OR (NOT CMAKE_COMPILER_IS_GNUCXX) OR (GCC_VERSION VERSION_GREATER 4.2.1) OR (CMAKE_CXX_COMPILER_ID STREQUAL "Clang"))
+  find_package(OpenMP)
+endif()
+if(OPENMP_FOUND)
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+  message (STATUS "Found OpenMP")
+else(OPENMP_FOUND)
+  message (STATUS "Not found OpenMP")
+endif()
+
 IF(OpenCV_FOUND)
    MESSAGE(STATUS "Found OpenCV: ${OpenCV_INCLUDE_DIRS}")
 ENDIF(OpenCV_FOUND)
@@ -272,13 +289,19 @@ ADD_SUBDIRECTORY( corelib )
 
 IF(Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
    ADD_SUBDIRECTORY( guilib )
-   ADD_SUBDIRECTORY( app )
+   IF(BUILD_APP)
+      ADD_SUBDIRECTORY( app )
+   ENDIF(BUILD_APP)
 ELSEIF(WITH_QT)
    MESSAGE(WARNING "Qt not found, the GUI lib and the stand-alone application will not be compiled...")
 ENDIF()
 
-ADD_SUBDIRECTORY( tools )
-ADD_SUBDIRECTORY( examples )
+IF(BUILD_TOOLS)
+   ADD_SUBDIRECTORY( tools )
+ENDIF(BUILD_TOOLS)
+IF(BUILD_EXAMPLES)
+   ADD_SUBDIRECTORY( examples )
+ENDIF(BUILD_EXAMPLES)
 
 #######################
 # Uninstall target, for "make uninstall"
@@ -303,7 +326,11 @@ set(CONF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/corelib/include"
 					  "${PROJECT_SOURCE_DIR}/guilib/include" 
 					  "${PROJECT_SOURCE_DIR}/utilite/include")
 set(CONF_LIB_DIR "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}")
-set(CONF_WITH_GUI ${WITH_QT})
+IF(QT4_FOUND OR Qt5_FOUND)
+   set(CONF_WITH_GUI ON)
+ELSE()
+   set(CONF_WITH_GUI OFF)
+ENDIF()
 configure_file(RTABMapConfig.cmake.in
   "${PROJECT_BINARY_DIR}/RTABMapConfig.cmake" @ONLY)
   
@@ -412,6 +439,9 @@ MESSAGE(STATUS "Info :")
 MESSAGE(STATUS "  Version : ${RTABMAP_VERSION}")
 MESSAGE(STATUS "  CMAKE_INSTALL_PREFIX = ${CMAKE_INSTALL_PREFIX}")
 MESSAGE(STATUS "  CMAKE_BUILD_TYPE = ${CMAKE_BUILD_TYPE}")
+MESSAGE(STATUS "  BUILD_APP = ${BUILD_APP}")
+MESSAGE(STATUS "  BUILD_TOOLS = ${BUILD_TOOLS}")
+MESSAGE(STATUS "  BUILD_EXAMPLES = ${BUILD_EXAMPLES}")
 IF(NOT WIN32)
 	# see comment above for the BUILD_SHARED_LIBS option on Windows
 	MESSAGE(STATUS "  BUILD_SHARED_LIBS = ${BUILD_SHARED_LIBS}")

corelib/include/rtabmap/core/CameraRGBD.h

@@ -35,9 +35,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/Camera.h"
 #include "rtabmap/core/CameraRGB.h"
 
-#include <pcl/io/openni_camera/openni_depth_image.h>
-#include <pcl/io/openni_camera/openni_image.h>
-
 #include <boost/signals2/connection.hpp>
 
 namespace openni

corelib/src/CMakeLists.txt

@@ -223,12 +223,24 @@ SET(RESOURCES_HEADERS
 	${CMAKE_CURRENT_BINARY_DIR}/DatabaseSchema_sql.h 
 )
 
+IF(ANDROID)
+IF(NOT URESOURCEGENERATOR)
+   MESSAGE( FATAL_ERROR "URESOURCEGENERATOR is not defined (it should point out on \"uresourcegenerator\" application created by a non-Android build), CMake will exit." )
+ENDIF(NOT URESOURCEGENERATOR)
+ADD_CUSTOM_COMMAND(
+   OUTPUT ${RESOURCES_HEADERS}
+   COMMAND ${URESOURCEGENERATOR} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
+   COMMENT "[Creating resources]"
+   DEPENDS ${R}
+)
+ELSE()
 ADD_CUSTOM_COMMAND(
    OUTPUT ${RESOURCES_HEADERS}
    COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/uresourcegenerator -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
    COMMENT "[Creating resources]"
    DEPENDS ${R} uresourcegenerator
 )
+ENDIF()
 
 ####################################
 # Generate resources files END

corelib/src/CameraRGB.cpp

@@ -437,7 +437,6 @@ std::vector<std::string> CameraImages::filenames() const
 
 SensorData CameraImages::captureImage()
 {
-	double actualDelay = 0.0;
 	if(syncImageRateWithStamps_ && _captureDelay>0.0)
 	{
 		int sleepTime = (1000*_captureDelay - 1000.0f*_captureTimer.getElapsedTime());
@@ -460,8 +459,6 @@ SensorData CameraImages::captureImage()
 			}
 		}
 
-		actualDelay = 1.0/(_captureTimer.getElapsedTime());
-
 		// Add precision at the cost of a small overhead
 		while(_captureTimer.getElapsedTime() < _captureDelay-0.000001)
 		{

corelib/src/CameraRGBD.cpp

@@ -42,6 +42,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifdef HAVE_OPENNI
 #include <pcl/io/openni_grabber.h>
 #include <pcl/io/oni_grabber.h>
+#include <pcl/io/openni_camera/openni_depth_image.h>
+#include <pcl/io/openni_camera/openni_image.h>
 #endif
 
 #ifdef WITH_FREENECT

corelib/src/Features2d.cpp

@@ -40,7 +40,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <opencv2/opencv_modules.hpp>
 
 #if CV_MAJOR_VERSION < 3
+#ifdef HAVE_OPENCV_GPU
 #include <opencv2/gpu/gpu.hpp>
+#endif
 #else
 #include <opencv2/core/cuda.hpp>
 #endif
@@ -891,11 +893,19 @@ void ORB::parseParameters(const ParametersMap & parameters)
 	Parameters::parse(parameters, Parameters::kFASTNonmaxSuppression(), nonmaxSuppresion_);
 
 #if CV_MAJOR_VERSION < 3
+#ifdef HAVE_OPENCV_GPU
 	if(gpu_ && cv::gpu::getCudaEnabledDeviceCount() == 0)
 	{
 		UWARN("GPU version of ORB not available! Using CPU version instead...");
 		gpu_ = false;
 	}
+#else
+	if(gpu_)
+	{
+		UWARN("GPU version of ORB not available (OpenCV not built with gpu/cuda module)! Using CPU version instead...");
+		gpu_ = false;
+	}
+#endif
 #else
 #ifndef HAVE_OPENCV_CUDAFEATURES2D
 	if(gpu_)
@@ -913,8 +923,12 @@ void ORB::parseParameters(const ParametersMap & parameters)
 	if(gpu_)
 	{
 #if CV_MAJOR_VERSION < 3
+#ifdef HAVE_OPENCV_GPU
 		_gpuOrb = cv::Ptr<CV_ORB_GPU>(new CV_ORB_GPU(this->getMaxFeatures(), scaleFactor_, nLevels_, edgeThreshold_, firstLevel_, WTA_K_, scoreType_, patchSize_));
 		_gpuOrb->setFastParams(fastThreshold_, nonmaxSuppresion_);
+#else
+		UFATAL("not supposed to be here");
+#endif
 #else
 #ifdef HAVE_OPENCV_CUDAFEATURES2D
 		UFATAL("not implemented");
@@ -945,9 +959,13 @@ std::vector<cv::KeyPoint> ORB::generateKeypointsImpl(const cv::Mat & image, cons
 	if(gpu_)
 	{
 #if CV_MAJOR_VERSION < 3
+#ifdef HAVE_OPENCV_GPU
 		cv::gpu::GpuMat imgGpu(imgRoi);
 		cv::gpu::GpuMat maskGpu(maskRoi);
 		(*_gpuOrb.obj)(imgGpu, maskGpu, keypoints);
+#else
+		UERROR("Cannot use ORBGPU because OpenCV is not built with gpu module.");
+#endif
 #else
 #ifdef HAVE_OPENCV_CUDAFEATURES2D
 		UFATAL("not implemented");
@@ -974,17 +992,10 @@ cv::Mat ORB::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyP
 	if(gpu_)
 	{
 #if CV_MAJOR_VERSION < 3
+#ifdef HAVE_OPENCV_GPU
 		cv::gpu::GpuMat imgGpu(image);
 		cv::gpu::GpuMat descriptorsGPU;
 		(*_gpuOrb.obj)(imgGpu, cv::gpu::GpuMat(), keypoints, descriptorsGPU);
-#else
-		cv::cuda::GpuMat imgGpu(image);
-		cv::cuda::GpuMat descriptorsGPU;
-#ifdef HAVE_OPENCV_CUDAFEATURES2D
-		UFATAL("not implemented");
-#endif
-#endif
-
 		// Download descriptors
 		if (descriptorsGPU.empty())
 			descriptors = cv::Mat();
@@ -994,6 +1005,16 @@ cv::Mat ORB::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyP
 			descriptors = cv::Mat(descriptorsGPU.size(), CV_32F);
 			descriptorsGPU.download(descriptors);
 		}
+#else
+		UERROR("GPU version of ORB not available (OpenCV not built with gpu/cuda module)! Using CPU version instead...");
+#endif
+#else
+		cv::cuda::GpuMat imgGpu(image);
+		cv::cuda::GpuMat descriptorsGPU;
+#ifdef HAVE_OPENCV_CUDAFEATURES2D
+		UFATAL("not implemented");
+#endif
+#endif
 	}
 	else
 	{
@@ -1041,34 +1062,42 @@ void FAST::parseParameters(const ParametersMap & parameters)
 	UASSERT_MSG(threshold_ <= maxThreshold_, uFormat("%d vs %d", threshold_, maxThreshold_).c_str());
 
 #if CV_MAJOR_VERSION < 3
+#ifdef HAVE_OPENCV_GPU
 	if(gpu_ && cv::gpu::getCudaEnabledDeviceCount() == 0)
 	{
 		UWARN("GPU version of FAST not available! Using CPU version instead...");
 		gpu_ = false;
 	}
 #else
+	if(gpu_)
+	{
+		UWARN("GPU version of FAST not available (OpenCV not built with gpu/cuda module)! Using CPU version instead...");
+		gpu_ = false;
+	}
+#endif
+#else
+#ifdef HAVE_OPENCV_CUDAFEATURES2D
 	if(gpu_ && cv::cuda::getCudaEnabledDeviceCount() == 0)
 	{
 		UWARN("GPU version of FAST not available! Using CPU version instead...");
 		gpu_ = false;
 	}
-#ifndef HAVE_OPENCV_CUDAFEATURES2D
+#else
 	if(gpu_)
 	{
 		UWARN("GPU version of FAST not available (OpenCV cudafeatures2d module)! Using CPU version instead...");
 		gpu_ = false;
 	}
 #endif
-	if(gpu_)
-	{
-		UWARN("GPU version of FAST is available but not yet implemented! Using CPU version instead...");
-	}
-	gpu_ = false;
 #endif
 	if(gpu_)
 	{
 #if CV_MAJOR_VERSION < 3
+#ifdef HAVE_OPENCV_GPU
 		_gpuFast = new CV_FAST_GPU(threshold_, nonmaxSuppression_, gpuKeypointsRatio_);
+#else
+		UFATAL("not supposed to be here!");
+#endif
 #else
 #ifdef HAVE_OPENCV_CUDAFEATURES2D
 		UFATAL("not implemented");
@@ -1116,9 +1145,13 @@ std::vector<cv::KeyPoint> FAST::generateKeypointsImpl(const cv::Mat & image, con
 	if(gpu_)
 	{
 #if CV_MAJOR_VERSION < 3
+#ifdef HAVE_OPENCV_GPU
 		cv::gpu::GpuMat imgGpu(imgRoi);
 		cv::gpu::GpuMat maskGpu(maskRoi);
 		(*_gpuFast.obj)(imgGpu, maskGpu, keypoints);
+#else
+		UERROR("Cannot use FAST GPU because OpenCV is not built with gpu module.");
+#endif
 #else
 #ifdef HAVE_OPENCV_CUDAFEATURES2D
 		UFATAL("not implemented");

corelib/src/VWDictionary.cpp

@@ -462,24 +462,33 @@ void VWDictionary::setNNStrategy(NNStrategy strategy)
 	if(strategy!=kNNUndef)
 	{
 #if CV_MAJOR_VERSION < 3
+#ifdef HAVE_OPENCV_GPU
 		if(strategy == kNNBruteForceGPU && !cv::gpu::getCudaEnabledDeviceCount())
 		{
 			UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but no CUDA devices found! Doing \"kNNBruteForce\" instead.");
 			strategy = kNNBruteForce;
 		}
 #else
+		if(strategy == kNNBruteForceGPU)
+		{
+			UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but OpenCV is not built with GPU/cuda module! Doing \"kNNBruteForce\" instead.");
+			strategy = kNNBruteForce;
+		}
+#endif
+#else
+#if HAVE_OPENCV_CUDAFEATURES2D
 		if(strategy == kNNBruteForceGPU && !cv::cuda::getCudaEnabledDeviceCount())
 		{
 			UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but no CUDA devices found! Doing \"kNNBruteForce\" instead.");
 			strategy = kNNBruteForce;
 		}
-#endif
-#ifndef HAVE_OPENCV_CUDAFEATURES2D
+#else
 		if(strategy == kNNBruteForceGPU)
 		{
 			UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but OpenCV cudafeatures2d module is not found! Doing \"kNNBruteForce\" instead.");
 			strategy = kNNBruteForce;
 		}
+#endif
 #endif
 
 		if(RTABMAP_NONFREE == 0 && strategy == kNNFlannKdTree)
@@ -832,6 +841,7 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
 		{
 			bruteForce = true;
 #if CV_MAJOR_VERSION < 3
+#ifdef HAVE_OPENCV_GPU
 			cv::gpu::GpuMat newDescriptorsGpu(descriptors);
 			cv::gpu::GpuMat lastDescriptorsGpu(_dataTree);
 			if(type==CV_8U)
@@ -844,6 +854,9 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
 				cv::gpu::BruteForceMatcher_GPU<cv::L2<float> > gpuMatcher;
 				gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
 			}
+#else
+			UERROR("Cannot use brute Force GPU because OpenCV is not built with gpu module.");
+#endif
 #else
 #ifdef HAVE_OPENCV_CUDAFEATURES2D
 			cv::cuda::GpuMat newDescriptorsGpu(descriptors);
@@ -859,6 +872,8 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
 				gpuMatcher = cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_L2);
 				gpuMatcher->knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
 			}
+#else
+			UERROR("Cannot use brute Force GPU because OpenCV is not built with cuda module.");
 #endif
 #endif
 		}
@@ -1068,6 +1083,7 @@ std::vector<int> VWDictionary::findNN(const std::list<VisualWord *> & vws) const
 			{
 				bruteForce = true;
 #if CV_MAJOR_VERSION < 3
+#ifdef HAVE_OPENCV_GPU
 				cv::gpu::GpuMat newDescriptorsGpu(query);
 				cv::gpu::GpuMat lastDescriptorsGpu(_dataTree);
 				if(type==CV_8U)
@@ -1080,6 +1096,9 @@ std::vector<int> VWDictionary::findNN(const std::list<VisualWord *> & vws) const
 					cv::gpu::BruteForceMatcher_GPU<cv::L2<float> > gpuMatcher;
 					gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
 				}
+#else
+			UERROR("Cannot use brute Force GPU because OpenCV is not built with gpu module.");
+#endif
 #else
 #ifdef HAVE_OPENCV_CUDAFEATURES2D
 				cv::cuda::GpuMat newDescriptorsGpu(query);
@@ -1095,6 +1114,8 @@ std::vector<int> VWDictionary::findNN(const std::list<VisualWord *> & vws) const
 					gpuMatcher = cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_L2);
 					gpuMatcher->knnMatchAsync(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
 				}
+#else
+			UERROR("Cannot use brute Force GPU because OpenCV is not built with cuda module.");
 #endif
 #endif
 			}

corelib/src/util3d_surface.cpp

@@ -36,7 +36,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/features/normal_3d.h>
 #include <pcl/surface/mls.h>
 #include <pcl/surface/texture_mapping.h>
+
+#ifndef DISABLE_VTK
 #include <pcl/surface/vtk_smoothing/vtk_mesh_quadric_decimation.h>
+#endif
 
 namespace rtabmap
 {
@@ -367,11 +370,16 @@ void adjustNormalsToViewPoints(
 
 pcl::PolygonMesh::Ptr meshDecimation(const pcl::PolygonMesh::Ptr & mesh, float factor)
 {
+	pcl::PolygonMesh::Ptr output(new pcl::PolygonMesh);
+#ifndef DISABLE_VTK
 	pcl::MeshQuadricDecimationVTK mqd;
 	mqd.setTargetReductionFactor(factor);
 	mqd.setInputMesh(mesh);
-	pcl::PolygonMesh::Ptr output(new pcl::PolygonMesh);
 	mqd.process (*output);
+#else
+	UWARN("RTAB-Map is not built with VTK module so mesh decimation cannot be used!");
+	*output = *mesh;
+#endif
 	return output;
 }
 

guilib/src/PreferencesDialog.cpp

@@ -77,10 +77,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <opencv2/opencv_modules.hpp>
 #if CV_MAJOR_VERSION < 3
+#ifdef HAVE_OPENCV_GPU
   #include <opencv2/gpu/gpu.hpp>
+#endif
 #else
+#ifdef HAVE_OPENCV_CUDAFEATURES2D
   #include <opencv2/core/cuda.hpp>
 #endif
+#endif
 
 using namespace rtabmap;
 
@@ -104,11 +108,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 
 	bool haveCuda = false;
 #if CV_MAJOR_VERSION < 3
+#ifdef HAVE_OPENCV_GPU
 	haveCuda = cv::gpu::getCudaEnabledDeviceCount() != 0;
+#endif
 #else
+#ifdef HAVE_OPENCV_CUDAFEATURES2D
 	haveCuda = cv::cuda::getCudaEnabledDeviceCount() != 0;
-#ifndef HAVE_OPENCV_CUDAFEATURES2D
-	haveCuda = false;
 #endif
 #endif
 	if(!haveCuda)

utilite/CMakeLists.txt

@@ -1,9 +1,9 @@
 SET(UTILITE_VERSION "0.3.0")
 ADD_DEFINITIONS(-DUTILITE_VERSION="${UTILITE_VERSION}")
 
-IF(UNIX)
+if(UNIX AND NOT ANDROID)
    FIND_PACKAGE(Pthreads REQUIRED)
-ENDIF(UNIX)
+ENDIF(UNIX AND NOT ANDROID)
 
 ADD_SUBDIRECTORY( src )
 ADD_SUBDIRECTORY( resource_generator )

utilite/include/rtabmap/utilite/Posix/UThreadC.h

@@ -84,9 +84,10 @@ class UThreadC
 
     static void Exit()
       { pthread_exit(0); }
-
+#ifndef ANDROID
     static void TestCancel()
       { pthread_testcancel(); }
+#endif
 
     static Handle Self()
       { return (Handle)pthread_self(); }
@@ -163,8 +164,10 @@ class UThreadC
     static int Join( Handle H )
       { return pthread_join(H,0); }
 
+#ifndef ANDROID
     static int Kill( Handle H )
       { return pthread_cancel(H); }
+#endif
 
     static int Detach( Handle H )
       { return pthread_detach(H); }
@@ -180,6 +183,7 @@ class UThreadC
       Thread_T  Data(I.Data);
       S_Create().release();
 
+#ifndef ANDROID
       if ( I.Flags & 1 /*CancelEnable*/ )
       {
         pthread_setcancelstate(PTHREAD_CANCEL_ENABLE,NULL);
@@ -193,6 +197,7 @@ class UThreadC
       {
         pthread_setcancelstate(PTHREAD_CANCEL_DISABLE,NULL);
       }
+#endif
 
       if ( I.Owner )
         I.Owner->ThreadMain(Data);
@@ -237,8 +242,10 @@ class UThreadC<void>
     static void Exit()
       { pthread_exit(0); }
 
+#ifndef ANDROID
     static void TestCancel()
       { pthread_testcancel(); }
+#endif
 
     static Handle Self()
       { return (Handle)pthread_self(); }
@@ -347,8 +354,10 @@ class UThreadC<void>
     static int Join( Handle H )
       { return pthread_join(H,0); }
 
+#ifndef ANDROID
     static int Kill( Handle H )
       { return pthread_cancel(H); }
+#endif
 
     static int Detach( Handle H )
       { return pthread_detach(H); }
@@ -363,6 +372,7 @@ class UThreadC<void>
       Instance  I(*Param);
       S_Create().release();
 
+#ifndef ANDROID
       if ( I.Flags & 1 /*CancelEnable*/ )
       {
         pthread_setcancelstate(PTHREAD_CANCEL_ENABLE,NULL);
@@ -376,6 +386,7 @@ class UThreadC<void>
       {
         pthread_setcancelstate(PTHREAD_CANCEL_DISABLE,NULL);
       }
+#endif
 
       if ( I.Owner )
         I.Owner->ThreadMain();

utilite/include/rtabmap/utilite/UThread.h

@@ -245,8 +245,10 @@ private:
     //Methods from UThread<void> class hided
     static int Join( Handle H )
 	  { return UThreadC<void>::Join(H); }
+#ifndef ANDROID
 	static int Kill( Handle H )
 	  { return UThreadC<void>::Kill(H); }
+#endif
 	static int Detach( Handle H )
 	  { return UThreadC<void>::Detach(H); }
 

utilite/src/UDirectory.cpp

@@ -29,7 +29,6 @@
   #include <sys/stat.h>
   #include <sys/types.h>
   #include <sys/param.h>
-  #include <sys/dir.h>
   #include <unistd.h>
   #include <stdlib.h>
   #include <string.h>