ORB_SLAM2在Android上的移植过程 (Android Studio 2.2+OpenCV 3.2+Cmake)

最新推荐文章于 2024-02-01 16:15:22 发布

VIP文章 Martin20150405

最新推荐文章于 2024-02-01 16:15:22 发布

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分类专栏：三维重建安卓开发文章标签： opencv android studio cmake ORB-SLAM

本文链接：https://blog.csdn.net/Martin20150405/article/details/54692386

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项目地址
 相关问题
仅供学习与交流之用，因滥用造成的任何后果与作者无关。

项目中APK和源码可以在Meizu MX2（见下图），Nox模拟器上正常运行，Android M及以上请检查相机和SD卡权限，不回复任何关于某些设备无法运行的留言或邮件，请谅解。

##准备工作
配置Android Studio 2.2+OpenCV 3.2+Cmake

Hint

在编译g2o时出现error,tr1/unordered_map' file not found，可能是因为ndk版本过高导致，可使用老版本（如r14b r12b）进行编译，下载地址
ORB-SLAM2的视觉词袋为K=10，L=6的ORB词袋，二进制版本体积超过40M，可以自己重新训练视觉词袋，如将L减小到5，体积为4.7M，基本不影响性能，参见SLAM_AR_Demo_OBJ_MiniVoc.apk

ORB_SLAM2的依赖库

依赖库有：

DBow2:项目自带，Bow,就是bag of words，词袋相关的库
g2o:项目自带，不是杭州那个峰会哈，这是个图优化库
Eigen3:项目不带，自己下载，线性代数库
Pangolin:项目不带，用来做窗口管理可视化（OpenGL），在Android平台下我直接去除掉了，在Windows下我用freeglut代替

CmakeLists编写

Eigen3好像定义全在头文件里面，因此只需要包含头文件就可以了，g2o还需要进行链接
g2o作为一个静态链接库和ORB_SLAM2进行链接

cmake_minimum_required(VERSION 3.6)

set(CMAKE_VERBOSE_MAKEFILE on)
set(libs "${CMAKE_SOURCE_DIR}/src/main/jniLibs")
include_directories(${CMAKE_SOURCE_DIR}/src/main/cpp/opencv/include)

add_library(libopencv_java3 SHARED IMPORTED )
set_target_properties(libopencv_java3 PROPERTIES
        IMPORTED_LOCATION "${libs}/${ANDROID_ABI}/libopencv_java3.so")

add_library(libopencv_java SHARED IMPORTED )
set_target_properties(libopencv_java PROPERTIES
        IMPORTED_LOCATION "${libs}/${ANDROID_ABI}/libopencv_java.so")

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=gnu++11 -fexceptions -frtti")


ADD_LIBRARY(g2o
        src/main/cpp/Thirdparty/g2o/g2o/types/types_sba.h
        src/main/cpp/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h
        src/main/cpp/Thirdparty/g2o/g2o/types/types_sba.cpp
        src/main/cpp/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp
        src/main/cpp/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp
        src/main/cpp/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h
        src/main/cpp/Thirdparty/g2o/g2o/types/se3quat.h
        src/main/cpp/Thirdparty/g2o/g2o/types/se3_ops.h
        src/main/cpp/Thirdparty/g2o/g2o/types/se3_ops.hpp
        src/main/cpp/Thirdparty/g2o/g2o/core/base_edge.h
        src/main/cpp/Thirdparty/g2o/g2o/core/base_binary_edge.h
        src/main/cpp/Thirdparty/g2o/g2o/core/hyper_graph_action.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/base_binary_edge.hpp
        src/main/cpp/Thirdparty/g2o/g2o/core/hyper_graph_action.h
        src/main/cpp/Thirdparty/g2o/g2o/core/base_multi_edge.h
        src/main/cpp/Thirdparty/g2o/g2o/core/hyper_graph.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/base_multi_edge.hpp
        src/main/cpp/Thirdparty/g2o/g2o/core/hyper_graph.h
        src/main/cpp/Thirdparty/g2o/g2o/core/base_unary_edge.h
        src/main/cpp/Thirdparty/g2o/g2o/core/linear_solver.h
        src/main/cpp/Thirdparty/g2o/g2o/core/base_unary_edge.hpp
        src/main/cpp/Thirdparty/g2o/g2o/core/marginal_covariance_cholesky.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/base_vertex.h
        src/main/cpp/Thirdparty/g2o/g2o/core/marginal_covariance_cholesky.h
        src/main/cpp/Thirdparty/g2o/g2o/core/base_vertex.hpp
        src/main/cpp/Thirdparty/g2o/g2o/core/matrix_structure.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/batch_stats.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/matrix_structure.h
        src/main/cpp/Thirdparty/g2o/g2o/core/batch_stats.h
        src/main/cpp/Thirdparty/g2o/g2o/core/openmp_mutex.h
        src/main/cpp/Thirdparty/g2o/g2o/core/block_solver.h
        src/main/cpp/Thirdparty/g2o/g2o/core/block_solver.hpp
        src/main/cpp/Thirdparty/g2o/g2o/core/parameter.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/parameter.h
        src/main/cpp/Thirdparty/g2o/g2o/core/cache.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/cache.h
        src/main/cpp/Thirdparty/g2o/g2o/core/optimizable_graph.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/optimizable_graph.h
        src/main/cpp/Thirdparty/g2o/g2o/core/solver.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/solver.h
        src/main/cpp/Thirdparty/g2o/g2o/core/creators.h
        src/main/cpp/Thirdparty/g2o/g2o/core/optimization_algorithm_factory.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/estimate_propagator.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/optimization_algorithm_factory.h
        src/main/cpp/Thirdparty/g2o/g2o/core/estimate_propagator.h
        src/main/cpp/Thirdparty/g2o/g2o/core/factory.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/optimization_algorithm_property.h
        src/main/cpp/Thirdparty/g2o/g2o/core/factory.h
        src/main/cpp/Thirdparty/g2o/g2o/core/sparse_block_matrix.h
        src/main/cpp/Thirdparty/g2o/g2o/core/sparse_optimizer.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp
        src/main/cpp/Thirdparty/g2o/g2o/core/sparse_optimizer.h
        src/main/cpp/Thirdparty/g2o/g2o/core/hyper_dijkstra.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/hyper_dijkstra.h
        src/main/cpp/Thirdparty/g2o/g2o/core/parameter_container.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/parameter_container.h
        src/main/cpp/Thirdparty/g2o/g2o/core/optimization_algorithm.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/optimization_algorithm.h
        src/main/cpp/Thirdparty/g2o/g2o/core/optimization_algorithm_with_hessian.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/optimization_algorithm_with_hessian.h
        src/main/cpp/Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.h
        src/main/cpp/Thirdparty/g2o/g2o/core/jacobian_workspace.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/jacobian_workspace.h
        src/main/cpp/Thirdparty/g2o/g2o/core/robust_kernel.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/robust_kernel.h
        src/main/cpp/Thirdparty/g2o/g2o/core/robust_kernel_factory.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/robust_kernel_factory.h
        src/main/cpp/Thirdparty/g2o/g2o/core/robust_kernel_impl.cpp
        src/main/cpp/Thirdparty/g2o/g2o/core/robust_kernel_impl.h
        src/main/cpp/Thirdparty/g2o/g2o/stuff/string_tools.h
        src/main/cpp/Thirdparty/g2o/g2o/stuff/color_macros.h
        src/main/cpp/Thirdparty/g2o/g2o/stuff/macros.h
        src/main/cpp/Thirdparty/g2o/g2o/stuff/timeutil.cpp
        src/main/cpp/Thirdparty/g2o/g2o/stuff/misc.h
        src/main/cpp/Thirdparty/g2o/g2o/stuff/timeutil.h
        src/main/cpp/Thirdparty/g2o/g2o/stuff/os_specific.c
        src/main/cpp/Thirdparty/g2o/g2o/stuff/os_specific.h
        src/main/cpp/Thirdparty/g2o/g2o/stuff/string_tools.cpp
        src/main/cpp/Thirdparty/g2o/g2o/stuff/property.cpp
        src/main/cpp/Thirdparty/g2o/g2o/stuff/property.h
        )

include_directories(
        src/main/cpp
        src/main/cpp/include
        src/main/cpp/Thirdparty
        src/main/cpp/Thirdparty/g2o
)

add_library(ORB_SLAM2
        src/main/cpp/include/System.h
        src/main/cpp/include/Tracking.h
        src/main/cpp/include/LocalMapping.h
        src/main/cpp/include/LoopClosing.h
        src/main/cpp/include/ORBextractor.h
        src/main/cpp/include/ORBmatcher.h
        src/main/cpp/include/FrameDrawer.h
        src/main/cpp/include/Converter.h
        src/main/cpp/include/MapPoint.h
        src/main/cpp/include/KeyFrame.h
        src/main/cpp/include/Map.h
        src/main/cpp/include/Optimizer.h
        src/main/cpp/include/PnPsolver.h
        src/main/cpp/include/Frame.h
        src/main/cpp/include/KeyFrameDatabase.h
        src/main/cpp/include/Sim3Solver.h
        src/main/cpp/include/Initializer.h
        src/main/cpp/include/Common.h
        src/main/cpp/src/System.cc
        src/main/cpp/src/Tracking.cc
        src/main/cpp/src/LocalMapping.cc
        src/main/cpp/src/LoopClosing.cc
        src/main/cpp/src/ORBextractor.cc
        src/main/cpp/src/ORBmatcher.cc
        src/main/cpp/src/FrameDrawer.cc
        src/main/cpp/src/Converter.cc
        src/main/cpp/src/MapPoint.cc
        src/main/cpp/src/KeyFrame.cc
        src/main/cpp/src/Map.cc
        src/main/cpp/src/Optimizer.cc
        src/main/cpp/src/PnPsolver.cc
        src/main/cpp/src/Frame.cc
        src/main/cpp/src/KeyFrameDatabase.cc
        src/main/cpp/src/Sim3Solver.cc
        src/main/cpp/src/Initializer.cc

        ############DBow2############
        src/main/cpp/Thirdparty/DBoW2/DBoW2/BowVector.h
        src/main/cpp/Thirdparty/DBoW2/DBoW2/FORB.h
        src/main/cpp/Thirdparty/DBoW2/DBoW2/FClass.h
        src/main/cpp/Thirdparty/DBoW2/DBoW2/FeatureVector.h
        src/main/cpp/Thirdparty/DBoW2/DBoW2/ScoringObject.h
        src/main/cpp/Thirdparty/DBoW2/DBoW2/TemplatedVocabulary.h
        src/main/cpp/Thirdparty/DBoW2/DUtils/Random.h
        src/main/cpp/Thirdparty/DBoW2/DBoW2/BowVector.cpp
        src/main/cpp/Thirdparty/DBoW2/DBoW2/FORB.cpp
        src/main/cpp/Thirdparty/DBoW2/DBoW2/FeatureVector.cpp
        src/main/cpp/Thirdparty/DBoW2/DBoW2/ScoringObject.cpp
        src/main/cpp/Thirdparty/DBoW2/DUtils/Random.cpp
        )

add_library(
        SLAM

        SHARED
        src/main/cpp/native-lib.cpp
        )


find_library( # Sets the name of the path variable.
        log-lib

        # Specifies the name of the NDK library that
        # you want CMake to locate.
        log)

target_link_libraries(SLAM
        libopencv_java3 libopencv_java
        ${log-lib}
        ORB_SLAM2
        g2o
        )

嵌入运行所需的文件：相机参数、Vocabulary

相机参数还没有标定，毕竟安卓机型号实在太杂了，Vocabulary我使用二进制读入优化方案(参考项目的Issues)
因为C++并不方便读取asse

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ORB_SLAM2在Android上的移植过程 (Android Studio 2.2+OpenCV 3.2+Cmake)

项目地址链接：https://pan.baidu.com/s/1c4i2GE0 密码：u2ih 相关问题仅供学习与交流之用，因滥用造成的任何后果与作者无关。项目中APK和源码可以在Meizu MX2（见下图），Nox模拟器上正常运行，Android M及以上请检查相机和SD卡权限，不回复任何关于某些设备无法运行的留言或邮件，请谅解。准备工作配置Android Studio 2...
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