mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
012439aa0b
* Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
136 lines
3.3 KiB
CMake
136 lines
3.3 KiB
CMake
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SET(INCLUDE_DIRS
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${CMAKE_CURRENT_SOURCE_DIR}
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${CMAKE_CURRENT_SOURCE_DIR}/tango-gl/include
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${CMAKE_CURRENT_SOURCE_DIR}/third-party/include
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${PROJECT_SOURCE_DIR}/corelib/include
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${PROJECT_SOURCE_DIR}/utilite/include
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${OpenCV_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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"${ANDROID_NDK}/platforms/android-${ANDROID_NATIVE_API_LEVEL}/arch-${ANDROID_ARCH_NAME}/usr/include"
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)
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SET(LIBRARIES
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${OpenCV_LIBRARIES}
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${PCL_LIBRARIES}
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)
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set(sources
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jni_interface.cpp
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CameraMobile.cpp
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RTABMapApp.cpp
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scene.cpp
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point_cloud_drawable.cpp
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graph_drawable.cpp
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tango-gl/axis.cpp
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tango-gl/camera.cpp
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tango-gl/conversions.cpp
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tango-gl/drawable_object.cpp
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tango-gl/frustum.cpp
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tango-gl/gesture_camera.cpp
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tango-gl/grid.cpp
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tango-gl/line.cpp
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tango-gl/shaders.cpp
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tango-gl/trace.cpp
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tango-gl/transform.cpp
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tango-gl/util.cpp
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)
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IF(OPENMP_FOUND)
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file(COPY ${OpenMP_CXX_LIBRARIES}
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DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
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ENDIF(OPENMP_FOUND)
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IF(Tango_FOUND)
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SET(sources
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${sources}
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CameraTango.cpp
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)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${Tango_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${Tango_LIBRARIES}
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)
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file(COPY ${Tango_support_LIBRARY}
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DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
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ENDIF(Tango_FOUND)
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IF(ARCore_FOUND)
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SET(sources
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${sources}
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CameraARCore.cpp
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)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${ARCore_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${ARCore_LIBRARIES}
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)
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file(COPY ${ARCore_c_LIBRARY}
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DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
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file(COPY ${ARCore_jni_LIBRARY}
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DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
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ENDIF(ARCore_FOUND)
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IF(AREngine_FOUND)
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SET(sources
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${sources}
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CameraAREngine.cpp
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)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${AREngine_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${AREngine_LIBRARIES}
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camera2ndk
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mediandk
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)
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file(COPY ${AREngine_impl_LIBRARY}
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DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
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file(COPY ${AREngine_jni_LIBRARY}
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DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
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file(COPY ${AREngine_ndk_LIBRARY}
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DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
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ENDIF(AREngine_FOUND)
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add_definitions(${PCL_DEFINITIONS})
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INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
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add_library(NativeRTABMap SHARED ${sources})
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target_link_libraries(NativeRTABMap ${LIBRARIES}
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android
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log
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GLESv2
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rtabmap_core
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rtabmap_utilite
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)
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# see ant.properties.in
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set_target_properties(NativeRTABMap PROPERTIES
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LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}"
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LIBRARY_OUTPUT_DIRECTORY_DEBUG "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}"
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LIBRARY_OUTPUT_DIRECTORY_RELEASE "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}")
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IF(ANDROID_NATIVE_API_LEVEL GREATER 22)
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add_custom_command(TARGET NativeRTABMap POST_BUILD
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COMMAND "${ANDROID_TOOLCHAIN_PREFIX}strip" -g -S -d --strip-debug --verbose
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"${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}/libNativeRTABMap.so"
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COMMENT "Strip debug symbols done on final binary.")
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ENDIF(ANDROID_NATIVE_API_LEVEL GREATER 22)
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