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Added android30 build

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This commit is contained in:
matlabbe
2022-01-04 14:55:32 -05:00
parent 1173f06bc8
commit ba6575fcb9
4 changed files with 109 additions and 30 deletions
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31
docker/bionic/android/Dockerfile
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@@ -9,29 +9,32 @@ RUN apt-get update && apt-get install -y \
g++ lib32stdc++6 lib32z1 \
software-properties-common \
freeglut3-dev \
openjdk-8-jdk openjdk-8-jre
openjdk-8-jdk openjdk-8-jre \
curl
ENV ANDROID_NDK_VERSION=r21
ENV ANDROID_HOME=/opt/android-sdk
ENV PATH=$PATH:/opt/android-sdk/tools:/opt/android-sdk/platform-tools:/opt/android-ndk-$ANDROID_NDK_VERSION
ENV ANDROID_NDK=/opt/android-ndk-$ANDROID_NDK_VERSION
ENV PATH=$PATH:/opt/android-sdk/cmdline-tools/latest/bin:/opt/android-sdk/tools:/opt/android-sdk/platform-tools:/opt/android-sdk/ndk/21.4.7075529
ENV ANDROID_NDK=/opt/android-sdk/ndk/21.4.7075529
ENV JAVA_HOME=/usr/lib/jvm/java-8-openjdk-amd64
WORKDIR /root/
# Setup android sdk
RUN wget -nv https://dl.google.com/android/repository/tools_r25.2.3-linux.zip && \
unzip -qq tools_r25.2.3-linux.zip && \
rm tools_r25.2.3-linux.zip && \
RUN wget -nv https://dl.google.com/android/repository/commandlinetools-linux-7583922_latest.zip && \
unzip -qq commandlinetools-linux-7583922_latest.zip && \
rm commandlinetools-linux-7583922_latest.zip && \
mkdir $ANDROID_HOME && \
mv tools $ANDROID_HOME/.
RUN echo y | android update sdk --no-ui --all --filter platform-tools,android-23,android-24,android-26,build-tools-29.0.3
mkdir $ANDROID_HOME/cmdline-tools && \
mv cmdline-tools $ANDROID_HOME/cmdline-tools/latest
# We should use build-tools <=30 to avoid dx missing error
RUN echo y | sdkmanager --install "platform-tools" "platforms;android-23" "platforms;android-24" "platforms;android-26" "platforms;android-30" "build-tools;30.0.3" "ndk;21.4.7075529" && \
rm -r $ANDROID_HOME/tools
# Setup android ndk
RUN wget -nv https://dl.google.com/android/repository/android-ndk-$ANDROID_NDK_VERSION-linux-x86_64.zip && \
unzip -qq android-ndk-$ANDROID_NDK_VERSION-linux-x86_64.zip && \
rm android-ndk-$ANDROID_NDK_VERSION-linux-x86_64.zip && \
mv android-ndk-$ANDROID_NDK_VERSION /opt/.
# we need <=r25 tools to use "android" command (now deprecated)
RUN wget -nv http://dl-ssl.google.com/android/repository/tools_r25.2.5-linux.zip && \
unzip -qq tools_r25.2.5-linux.zip && \
mv tools $ANDROID_HOME/. && \
rm tools_r25.2.5-linux.zip
ADD deps.bash /root/deps.bash
RUN chmod +x deps.bash

32
docker/bionic/android/deps.bash
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@@ -5,7 +5,7 @@ if [ $# -ne 1 ]; then
exit 1
fi
cpus=-j4
cpus=-j12
prefix=$1
pwd=$(pwd)
ANDROID_NATIVE_API_LEVEL=23
@@ -31,7 +31,7 @@ echo "Downloading opencv_contrib... (9/10)"
git clone https://github.com/opencv/opencv_contrib.git
echo "Downloading opencv... (10/10)"
git clone https://github.com/opencv/opencv.git
-DG2O_USE_OPENGL=OFF
# Install directory for all dependencies
mkdir -p $prefix/arm64-v8a
@@ -74,7 +74,7 @@ wget -nv https://gist.githubusercontent.com/matlabbe/cacff9f8271d0c42acd622939a2
git apply flann_1_8_4_android_fix.patch
mkdir build
cd build
$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$ANDROID_NATIVE_API_LEVEL -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" ..
$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$ANDROID_NATIVE_API_LEVEL -DBUILD_SHARED_LIBS=OFF -DBUILD_PYTHON_BINDINGS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" ..
make $cpus
make install
cd $pwd
@@ -110,12 +110,12 @@ rm -rf g2o
# VTK
echo "Install VTK..."
cd VTK
git checkout tags/v7.1.1
wget https://gist.github.com/matlabbe/f133f555d650e3ab5c51d3b772f02448/raw/be135b74cabb1cc85f90b8605f9db218d1e3f71b/vtk_7_1_1_android_r21_fix.patch
git apply vtk_7_1_1_android_r21_fix.patch
git checkout tags/v8.2.0
wget https://gist.github.com/matlabbe/e217259fb8ece9ee6daf5a8f70e896a0/raw/2214b503a537d6431d764526b5b780f07d6f168d/vtk_8_2_0_android_r21_fix.patch
git apply vtk_8_2_0_android_r21_fix.patch
mkdir build
cd build
$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_ANDROID_BUILD=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" ..
$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_ANDROID_BUILD=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DANDROID_ARCH_ABI=arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" ..
make $cpus
cp -r CMakeExternals/Install/vtk-android/* $prefix/arm64-v8a/.
cd $pwd
@@ -126,13 +126,13 @@ echo "Install pcl..."
cd pcl
git checkout tags/pcl-1.8.0
# patch
wget https://gist.github.com/matlabbe/41812e50e459b2f27b331a2343569e5d/raw/4cc7dd13b36e2f8c623e8faea7cc731b2899b0e4/pcl_1_8_0_vtk_android_support.patch
wget https://gist.github.com/matlabbe/41812e50e459b2f27b331a2343569e5d/raw/b2fc0c4d1cfffb3a9f2811abae782e317c539bfb/pcl_1_8_0_vtk_android_support.patch
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!?
$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$ANDROID_NATIVE_API_LEVEL -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" -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 ..
$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$ANDROID_NATIVE_API_LEVEL -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" -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 ..
$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$ANDROID_NATIVE_API_LEVEL -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_tools=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF ..
$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$ANDROID_NATIVE_API_LEVEL -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_tools=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF ..
make $cpus
make install
cd $pwd
@@ -140,23 +140,23 @@ rm -rf pcl
# make sure opencv is using the shared version of zlib
# see https://github.com/android/ndk/issues/1179
mv /opt/android-ndk-r21/toolchains/llvm/prebuilt/linux-x86_64/sysroot/usr/lib/aarch64-linux-android/libz.a /opt/android-ndk-r21/toolchains/llvm/prebuilt/linux-x86_64/sysroot/usr/lib/aarch64-linux-android/libz.a.back
mv $ANDROID_NDK/toolchains/llvm/prebuilt/linux-x86_64/sysroot/usr/lib/aarch64-linux-android/libz.a $ANDROID_NDK/toolchains/llvm/prebuilt/linux-x86_64/sysroot/usr/lib/aarch64-linux-android/libz.a.back
# OpenCV
echo "Install OpenCV..."
cd opencv_contrib
git checkout tags/3.4.2
git checkout tags/4.5.5
cd $pwd
cd opencv
git checkout tags/3.4.2
git checkout tags/4.5.5
mkdir build
cd build
$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$ANDROID_NATIVE_API_LEVEL -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" -DOPENCV_EXTRA_MODULES_PATH=$pwd/opencv_contrib/modules -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DWITH_CUDA=OFF -DBUILD_opencv_structured_light=OFF -DBUILD_ANDROID_PROJECTS=ON -DBUILD_ANDROID_EXAMPLES=OFF -DWITH_PROTOBUF=OFF -DBUILD_opencv_stereo=OFF ..
$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$ANDROID_NATIVE_API_LEVEL -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" -DOPENCV_EXTRA_MODULES_PATH=$pwd/opencv_contrib/modules -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DWITH_CUDA=OFF -DBUILD_opencv_structured_light=OFF -DBUILD_ANDROID_PROJECTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DBUILD_ANDROID_EXAMPLES=OFF -DWITH_PROTOBUF=OFF -DBUILD_opencv_stereo=OFF -DBUILD_JAVA=OFF -DWITH_QUIRC=OFF -DBUILD_opencv_js_bindings_generator=OFF -DBUILD_opencv_objc_bindings_generator=OFF -DBUILD_opencv_objdetect=OFF -DBUILD_opencv_xobjdetect=OFF ..
make $cpus
make install
cd $pwd
rm -rf opencv opencv_contrib
echo "Strip libraries..."
/opt/android-ndk-$ANDROID_NDK_VERSION/toolchains/llvm/prebuilt/linux-x86_64/bin/aarch64-linux-android-strip -g -S -d --strip-debug --verbose /opt/android/arm64-v8a/lib/*.a
/opt/android-ndk-$ANDROID_NDK_VERSION/toolchains/llvm/prebuilt/linux-x86_64/bin/aarch64-linux-android-strip -g -S -d --strip-debug --verbose /opt/android/arm64-v8a/sdk/native/staticlibs/arm64-v8a/*.a
$ANDROID_NDK/toolchains/llvm/prebuilt/linux-x86_64/bin/aarch64-linux-android-strip -g -S -d --strip-debug --verbose /opt/android/arm64-v8a/lib/*.a
$ANDROID_NDK/toolchains/llvm/prebuilt/linux-x86_64/bin/aarch64-linux-android-strip -g -S -d --strip-debug --verbose /opt/android/arm64-v8a/sdk/native/staticlibs/arm64-v8a/*.a

11
docker/bionic/android/rtabmap_api30/Dockerfile Normal file
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@@ -0,0 +1,11 @@
# Image: introlab3it/rtabmap:android30
FROM introlab3it/rtabmap:android-deps
WORKDIR /root/
ARG CACHE_DATE=2016-01-01
ADD rtabmap.bash /root/rtabmap.bash
RUN chmod +x rtabmap.bash
RUN /bin/bash -c "./rtabmap.bash /opt/android 30"

65
docker/bionic/android/rtabmap_api30/rtabmap.bash Normal file
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@@ -0,0 +1,65 @@
#!/bin/bash
if [ $# -ne 2 ]; then
echo "rtabmap.bash android_install_prefix api_level (23 for tango, 24 for arengine) # Example: build.bash /opt/android 24"
exit 1
fi
prefix=$1
api=$2
pwd=$(pwd)
# get rtabmap
git clone https://github.com/introlab/rtabmap.git rtabmap-tango
cd
# tango
wget 'https://docs.google.com/uc?authuser=0&id=12rHHkYM5k-UnQn-xGXs9JqYWhSXrgJr3&export=download' -O TangoSDK_Ikariotikos_C.zip
unzip -qq TangoSDK_Ikariotikos_C.zip
rm TangoSDK_Ikariotikos_C.zip
cp -r lib_tango_client_api/include/* $prefix/arm64-v8a/include/.
cp -r lib_tango_client_api/lib/arm64-v8a/* $prefix/arm64-v8a/lib/.
rm -r lib_tango_client_api
wget 'https://docs.google.com/uc?authuser=0&id=1AqVuEVu5284X6OgrGWu12VTrx4pY99Jb&export=download' -O TangoSupport_Ikariotikos_C.zip
unzip -qq TangoSupport_Ikariotikos_C.zip
rm TangoSupport_Ikariotikos_C.zip
cp -r lib_tango_support_api/include/* $prefix/arm64-v8a/include/.
cp -r lib_tango_support_api/lib/arm64-v8a/* $prefix/arm64-v8a/lib/.
rm -r lib_tango_support_api
wget 'https://docs.google.com/uc?authuser=0&id=1s5iPJ7xiridj9Jj--gCy2XiQFniheVm6&export=download' -O TangoSDK_Ikariotikos_Java.jar
mv TangoSDK_Ikariotikos_Java.jar rtabmap-tango/app/android/libs/.
# ARCore
wget 'https://docs.google.com/uc?authuser=0&id=1VsibeqRYpS5pjmrG-vYTXyiPg8kbIfVN&export=download' -O arcore.zip
unzip -qq arcore.zip
rm arcore.zip
cp -r arcore1_18/include/* $prefix/arm64-v8a/include/.
cp -r arcore1_18/arm64-v8a/* $prefix/arm64-v8a/lib/.
cp arcore1_18/*.jar rtabmap-tango/app/android/libs/.
rm -r arcore1_18
# AREngine
wget 'https://docs.google.com/uc?authuser=0&id=1rdaD2Z1QBv-SUeUy0oBmg3C2odfxTHgR&export=download' -O arengine.zip
unzip -qq arengine.zip
rm arengine.zip
cp -r arengine/include/* $prefix/arm64-v8a/include/.
cp -r arengine/arm64-v8a/* $prefix/arm64-v8a/lib/.
cp arengine/*.jar rtabmap-tango/app/android/libs/.
rm -r arengine
# resource tool
cd rtabmap-tango/build
cmake -DANDROID_PREBUILD=ON ..
make
cd ../..
# rtabmap
mkdir rtabmap-tango/build/arm64-v8a
cd rtabmap-tango/build/arm64-v8a
$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$api -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DOpenCV_DIR=$prefix/arm64-v8a/sdk/native/jni ../..
make
make clean