i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 08:47:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

Docker: updated android files to build for arm64_v8a

Browse Source
This commit is contained in:
matlabbe
2017-05-08 11:49:25 -04:00
parent eadeb3841b
commit 842da98e61
5 changed files with 110 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files
app/android/jni/CameraTango.cpp
+8
View File
@@ -356,6 +356,14 @@ bool CameraTango::init(const std::string & calibrationFolder, const std::string
return false; return false;
} }
LOGD("Calibration: fx=%f fy=%f cx=%f cy=%f width=%d height=%d",
color_camera_intrinsics.fx,
color_camera_intrinsics.fy,
color_camera_intrinsics.cx,
color_camera_intrinsics.cy,
color_camera_intrinsics.width,
color_camera_intrinsics.height);
cv::Mat K = cv::Mat::eye(3, 3, CV_64FC1); cv::Mat K = cv::Mat::eye(3, 3, CV_64FC1);
K.at<double>(0,0) = color_camera_intrinsics.fx; K.at<double>(0,0) = color_camera_intrinsics.fx;
K.at<double>(1,1) = color_camera_intrinsics.fy; K.at<double>(1,1) = color_camera_intrinsics.fy;
docker/xenial/android/Dockerfile
+6 -1
View File
@@ -3,11 +3,16 @@
FROM introlab3it/rtabmap FROM introlab3it/rtabmap
ENV ANDROID_HOME=/opt/android-sdk ENV ANDROID_HOME=/opt/android-sdk
ENV ANDROID_NATIVE_API_LEVEL=android-19 ENV ANDROID_NATIVE_API_LEVEL=android-21
ENV ANDROID_NDK=/opt/android-ndk-r14 ENV ANDROID_NDK=/opt/android-ndk-r14
ENV PATH=$PATH:/opt/android-sdk/tools:/opt/android-sdk/platform-tools:/opt/android-ndk-r14 ENV PATH=$PATH:/opt/android-sdk/tools:/opt/android-sdk/platform-tools:/opt/android-ndk-r14
WORKDIR /root/ 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"
ADD install_deps.bash /root/install_deps.bash ADD install_deps.bash /root/install_deps.bash
RUN chmod +x install_deps.bash RUN chmod +x install_deps.bash
RUN /bin/bash -c "./install_deps.bash" RUN /bin/bash -c "./install_deps.bash"
docker/xenial/android/install_deps.bash
+39 -38
View File
@@ -1,34 +1,5 @@
#!/bin/bash #!/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
apt-get install -y lib32stdc++6 lib32z1
# Setup android sdk
echo "wget android-sdk..."
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
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
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/share
wget -nv https://github.com/introlab/rtabmap/raw/master/cmake_modules/android.toolchain.cmake
mv android.toolchain.cmake /opt/android/share/.
# Boost # Boost
echo "wget boost..." echo "wget boost..."
wget -nv https://downloads.sourceforge.net/project/boost/boost/1.59.0/boost_1_59_0.tar.gz wget -nv https://downloads.sourceforge.net/project/boost/boost/1.59.0/boost_1_59_0.tar.gz
@@ -38,7 +9,11 @@ wget -nv https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/4
wget -nv https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/e7fbf0e301cfea417a7aa69989a761a4de08b8c3/CMakeLists.txt wget -nv https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/e7fbf0e301cfea417a7aa69989a761a4de08b8c3/CMakeLists.txt
mkdir build mkdir build
cd build cd build
cmake -DCMAKE_TOOLCHAIN_FILE=/opt/android/share/android.toolchain.cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android .. 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 ..
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 ..
make make
make install make install
cd cd
@@ -51,7 +26,11 @@ tar -xzf 3.2.7.tar.gz
cd eigen-eigen-b30b87236a1b cd eigen-eigen-b30b87236a1b
mkdir build mkdir build
cd build cd build
cmake -DCMAKE_TOOLCHAIN_FILE=/opt/android/share/android.toolchain.cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android .. 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 ..
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 ..
make make
make install make install
cd cd
@@ -64,7 +43,11 @@ unzip -qq flann-1.8.4-src.zip
cd flann-1.8.4-src cd flann-1.8.4-src
mkdir build mkdir build
cd build cd build
cmake -DCMAKE_TOOLCHAIN_FILE=/opt/android/share/android.toolchain.cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android .. 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 ..
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 ..
make make
make install make install
cd cd
@@ -79,7 +62,11 @@ wget -nv https://gist.github.com/matlabbe/726b490c658afd3293f4b3f2f501b863/raw/d
git apply gtsam_GKlib_android_fix.patch git apply gtsam_GKlib_android_fix.patch
mkdir build mkdir build
cd build cd build
cmake -DCMAKE_TOOLCHAIN_FILE=/opt/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=/opt/android .. 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 ..
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 ..
make make
make install make install
cd cd
@@ -90,7 +77,11 @@ git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o cd g2o
mkdir build mkdir build
cd build cd build
cmake -DCMAKE_TOOLCHAIN_FILE=/opt/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=/opt/android .. 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 ..
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 ..
make make
make install make install
cd cd
@@ -109,9 +100,13 @@ cd VTK
git checkout tags/v7.1.1 git checkout tags/v7.1.1
mkdir build mkdir build
cd 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=/opt/android .. ~/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 ..
make make
cp -r CMakeExternals/Install/vtk-android/* /opt/android/. cp -r CMakeExternals/Install/vtk-android/* /opt/android/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 ..
make
cp -r CMakeExternals/Install/vtk-android/* /opt/android/arm64-v8a/.
cd cd
rm -r VTK cmake-3.7.2-Linux-x86_64 rm -r VTK cmake-3.7.2-Linux-x86_64
@@ -125,8 +120,14 @@ git apply pcl_1_8_0_vtk_android_support.patch
mkdir build mkdir build
cd build cd build
# do it 2 times because there is a cmake error on the first time and not the second time!? # do it 2 times because there is a cmake error on the first time and not the second time!?
cmake -DCMAKE_TOOLCHAIN_FILE=/opt/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=/opt/android .. 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=/opt/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=/opt/android .. 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 ..
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 ..
make make
make install make install
cd cd
docker/xenial/android/setup_android_env.bash
+30
View File
@@ -0,0 +1,30 @@
#!/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
apt-get install -y lib32stdc++6 lib32z1
# Setup android sdk
echo "wget android-sdk..."
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
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
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
docker/xenial/android/tango/build.bash
+27 -12
View File
@@ -1,24 +1,39 @@
#!/bin/bash #!/bin/bash
apt-get install -y lib32stdc++6 lib32z1
# get rtabmap # get rtabmap
git clone https://github.com/introlab/rtabmap.git rtabmap-tango git clone https://github.com/introlab/rtabmap.git rtabmap-tango
# tango # tango
wget https://developers.google.com/tango/downloads/TangoSDK_Gankino_C.zip wget https://developers.google.com/tango/downloads/TangoSDK_Hopak_C.zip
unzip -qq TangoSDK_Gankino_C.zip unzip -qq TangoSDK_Hopak_C.zip
cp -r lib_tango_client_api/* /opt/android/. 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/.
rm -r lib_tango_client_api rm -r lib_tango_client_api
wget https://developers.google.com/tango/downloads/TangoSupport_Gankino_C.zip wget https://developers.google.com/tango/downloads/TangoSupport_Hopak_C.zip
unzip -qq TangoSupport_Gankino_C.zip unzip -qq TangoSupport_Hopak_C.zip
cp -r lib_tango_support_api/* /opt/android/. 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/lib/* rtabmap-tango/app/android/jni/third-party/lib/. cp -r lib_tango_support_api/lib/* rtabmap-tango/app/android/jni/third-party/lib/.
rm -r lib_tango_support_api rm -r lib_tango_support_api
wget https://developers.google.com/tango/downloads/TangoSDK_Gankino_Java.jar wget https://developers.google.com/tango/downloads/TangoSDK_Hopak_Java.jar
mv TangoSDK_Gankino_Java.jar rtabmap-tango/app/android/libs/. mv TangoSDK_Hopak_Java.jar rtabmap-tango/app/android/libs/.
# rtabmap # rtabmap
cd rtabmap-tango/build mkdir rtabmap-tango/build/armeabi-v7a
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=/opt/android .. 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/OpenCV-android-sdk/sdk/native/jni -DCMAKE_INSTALL_PREFIX=/opt/android/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/OpenCV-android-sdk/sdk/native/jni -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a ../..
make
# package with binaries of both architectures
cp ../armeabi-v7a/app/android/libs/armeabi-v7a/libNativeRTABMap.so app/android/libs/armeabi-v7a/libNativeRTABMap.so
make make