feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
@@ -0,0 +1,13 @@
+# Image: introlab3it/rtabmap:androidXX
+
+FROM introlab3it/rtabmap:android-deps
+
+ARG API_VERSION=23
+
+# Copy current source code
+COPY . /root/rtabmap-tango
+
+WORKDIR /root/rtabmap-tango
+
+RUN /bin/bash -c "./docker/bionic/android/rtabmap_apiXX/rtabmap.bash /opt/android $API_VERSION"
+
@@ -0,0 +1,60 @@
+#!/bin/bash
+
+set -e
+
+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
+
+# 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 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 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/* $prefix/arm64-v8a/lib/.
+cp arengine/*.jar app/android/libs/.
+rm -r arengine
+
+# resource tool
+cd build
+/root/cmake-3.17.0-Linux-x86_64/bin/cmake -DANDROID_PREBUILD=ON ..
+make
+
+# rtabmap
+mkdir arm64-v8a
+cd arm64-v8a
+/root/cmake-3.17.0-Linux-x86_64/bin/cmake -DCMAKE_TOOLCHAIN_FILE=$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
+
+
+