Docker: added Dockerfile for android

docker/xenial/Dockerfile

@@ -8,7 +8,8 @@ RUN apt-get update && apt-get install -y \
       git \
       cmake \
       libproj-dev \
-      libqt5svg5-dev
+      libqt5svg5-dev \
+      software-properties-common
 
 # Clone source code
 WORKDIR /root/

docker/xenial/Makefile

@@ -1,19 +0,0 @@
-all: help
-
-help:
-	@echo ""
-	@echo "-- Help Menu"
-	@echo ""
-	@echo "   1. make build  - build images"
-	@echo "   1. make pull   - pull images"
-	@echo "   1. make clean  - remove images"
-	@echo ""
-
-build:
-	@docker build --tag=rtabmap .
-
-pull:
-	@docker pull rtabmap
-
-clean:
-	@docker rmi -f rtabmap

docker/xenial/android/Dockerfile

@@ -0,0 +1,6 @@
+FROM introlab3it/rtabmap
+
+WORKDIR /root/
+ADD install_deps.bash /root/install_deps.bash
+RUN chmod +x install_deps.bash
+RUN /bin/bash -c "./install_deps.bash"

docker/xenial/android/install_deps.bash

@@ -0,0 +1,145 @@
+#!/bin/bash
+
+# Setup java 1.8
+apt-get update
+apt-get install -y --no-install-recommends apt-utils
+apt-get install -y unzip wget ant
+apt-get install -y default-jre default-jdk
+
+# Setup android sdk
+export ANDROID_HOME="/opt/android-sdk"
+export PATH="${PATH}:${ANDROID_HOME}/tools/:${ANDROID_HOME}/platform-tools/"
+wget 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
+mkdir ${ANDROID_HOME}
+mv tools ${ANDROID_HOME}/.
+#android list sdk --all --extended
+echo y | android update sdk --no-ui --all --filter platform-tools,android-19,build-tools-19.1.0
+
+# Setup android ndk
+wget https://dl.google.com/android/repository/android-ndk-r14-linux-x86_64.zip
+unzip -qq android-ndk-r14-linux-x86_64.zip
+rm android-ndk-r14-linux-x86_64.zip
+mv android-ndk-r14 /opt/.
+export ANDROID_NATIVE_API_LEVEL=android-19
+export ANDROID_NDK=/opt/android-ndk-r14
+export PATH="${PATH}:${ANDROID_NDK}"
+
+# Install directory for all dependencies
+mkdir -p android/share
+wget https://github.com/introlab/rtabmap/raw/master/cmake_modules/android.toolchain.cmake
+mv android.toolchain.cmake android/share/.
+
+# Boost
+wget https://downloads.sourceforge.net/project/boost/boost/1.59.0/boost_1_59_0.tar.gz
+tar -xzf boost_1_59_0.tar.gz
+cd boost_1_59_0
+wget https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/489ff2869eccd6f8d03ffb9090ef839108762741/BoostConfig.cmake.in
+wget https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/e7fbf0e301cfea417a7aa69989a761a4de08b8c3/CMakeLists.txt
+mkdir build
+cd build
+cmake -DCMAKE_TOOLCHAIN_FILE=~/android/share/android.toolchain.cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/android ..
+make
+make install
+cd
+rm -r boost_1_59_0.tar.gz boost_1_59_0
+
+# eigen
+wget http://bitbucket.org/eigen/eigen/get/3.2.7.tar.gz
+tar -xzf 3.2.7.tar.gz
+cd eigen-eigen-b30b87236a1b
+mkdir build
+cd build
+cmake -DCMAKE_TOOLCHAIN_FILE=~/android/share/android.toolchain.cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/android ..
+make
+make install
+cd
+rm -r 3.2.7.tar.gz eigen-eigen-b30b87236a1b
+
+# FLANN
+wget http://www.cs.ubc.ca/research/flann/uploads/FLANN/flann-1.8.4-src.zip
+unzip -qq flann-1.8.4-src.zip
+cd flann-1.8.4-src
+mkdir build
+cd build
+cmake -DCMAKE_TOOLCHAIN_FILE=~/android/share/android.toolchain.cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/android ..
+make 
+make install
+cd
+rm -r flann-1.8.4-src.zip flann-1.8.4-src
+
+# GTSAM
+git clone https://bitbucket.org/gtborg/gtsam.git
+cd gtsam
+git checkout fbb9d3bdda8b88df51896bc401bfd170573e66f5
+# patch
+wget https://gist.github.com/matlabbe/726b490c658afd3293f4b3f2f501b863/raw/df09fc8e238a495d66b062d92dc1c1fb20a581e8/gtsam_GKlib_android_fix.patch
+git apply gtsam_GKlib_android_fix.patch
+mkdir build
+cd build
+cmake -DCMAKE_TOOLCHAIN_FILE=~/android/share/android.toolchain.cmake -DMETIS_SHARED=OFF -DGTSAM_BUILD_STATIC_LIBRARY=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/android ..
+make 
+make install
+cd
+rm -r gtsam
+
+# g2o
+git clone https://github.com/RainerKuemmerle/g2o.git
+cd g2o
+mkdir build
+cd build
+cmake -DCMAKE_TOOLCHAIN_FILE=~/android/share/android.toolchain.cmake -DBUILD_LGPL_SHARED_LIBS=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/android ..
+make
+make install
+cd
+rm -r g2o
+
+
+#CMake 3.7 for VTK
+wget https://cmake.org/files/v3.7/cmake-3.7.2-Linux-x86_64.tar.gz
+tar -xzf cmake-3.7.2-Linux-x86_64.tar.gz
+rm cmake-3.7.2-Linux-x86_64.tar.gz
+
+# VTK
+git clone https://github.com/Kitware/VTK.git
+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 -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/android ..
+make
+cp -r CMakeExternals/Install/vtk-android/* ~/android/.
+cd
+rm -r VTK cmake-3.7.2-Linux-x86_64
+
+# PCL
+git clone https://github.com/PointCloudLibrary/pcl.git
+cd pcl
+git checkout tags/pcl-1.8.0
+# patch
+wget https://gist.github.com/matlabbe/41812e50e459b2f27b331a2343569e5d/raw/b97cf6dda9aa9487ee75a3cc4e8826b216a1ad06/pcl_1_8_0_vtk_android_support.patch
+git apply pcl_1_8_0_vtk_android_support.patch
+mkdir build
+cd build
+# do it 2 times because there is a cmake error on the first time and not the second time!?
+cmake -DCMAKE_TOOLCHAIN_FILE=~/android/share/android.toolchain.cmake -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/android ..
+cmake -DCMAKE_TOOLCHAIN_FILE=~/android/share/android.toolchain.cmake -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=$HOME/android ..
+make
+make install
+cd
+rm -r pcl
+
+# OpenCV
+wget https://downloads.sourceforge.net/project/opencvlibrary/opencv-android/3.2.0/opencv-3.2.0-android-sdk.zip
+unzip -qq opencv-3.2.0-android-sdk.zip
+rm opencv-3.2.0-android-sdk.zip
+mv OpenCV-android-sdk /opt/.
+
+# setup environment variables
+echo "export ANDROID_HOME=\"/opt/android-sdk\"" >> ~/.bashrc
+echo "export PATH=\"${PATH}:${ANDROID_HOME}/tools/:${ANDROID_HOME}/platform-tools/\"" >> ~/.bashrc
+echo "export ANDROID_NATIVE_API_LEVEL=android-19" >> ~/.bashrc
+echo "export ANDROID_NDK=/opt/android-ndk-r14" >> ~/.bashrc
+echo "export PATH=\"${PATH}:${ANDROID_NDK}\"" >> ~/.bashrc
+source ~/.bashrc

docker/xenial/android/tango/Dockerfile

@@ -0,0 +1,9 @@
+FROM introlab3it:rtabmap-android-deps
+
+WORKDIR /root/
+
+ADD build.bash /root/build.bash
+RUN chmod +x build.bash
+RUN /bin/bash -c "./build.bash"
+
+WORKDIR /root/rtabmap-android/build/app/android/bin

docker/xenial/android/tango/build.bash

@@ -0,0 +1,22 @@
+#!/bin/bash
+
+# get rtabmap
+git clone https://github.com/introlab/rtabmap.git rtabmap-tango
+
+# tango
+wget https://developers.google.com/tango/downloads/TangoSDK_Farandole_C.zip
+unzip -qq TangoSDK_Farandole_C.zip
+cp -r lib_tango_client_api/* android/.
+rm -r lib_tango_client_api
+wget https://developers.google.com/tango/downloads/TangoSupport_Farandole_C.zip
+unzip -qq TangoSupport_Farandole_C.zip
+cp -r lib_tango_support_api/* android/.
+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_Farandole_Java.jar
+mv TangoSDK_Farandole_Java.jar rtabmap-tango/app/android/libs/.
+
+# rtabmap
+cd rtabmap-tango/build
+cmake -DCMAKE_TOOLCHAIN_FILE=../cmake_modules/android.toolchain.cmake -DBUILD_SHARED_LIBS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DCMAKE_BUILD_TYPE=Release -DOpenCV_DIR=/opt/OpenCV-android-sdk/sdk/native/jni -DCMAKE_INSTALL_PREFIX=$HOME/android ..
+make