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
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+# Image: introlab3it/rtabmap:tango-api19
+
+FROM introlab3it/rtabmap:android-deps-api19
+
+WORKDIR /root/
+
+ADD build.bash /root/build.bash
+RUN chmod +x build.bash
+RUN /bin/bash -c "./build.bash /opt/android"
+
+WORKDIR /root/
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+#!/bin/bash
+
+if [ $# -ne 1 ]; then
+    echo "build.bash android_install_prefix   # Example: build.bash /opt/android"
+    exit 1
+fi
+
+prefix=$1
+
+# get rtabmap
+git clone https://github.com/introlab/rtabmap.git rtabmap-tango
+
+# 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/armeabi-v7a/include/.
+cp -r lib_tango_client_api/include/* $prefix/arm64-v8a/include/.
+cp -r lib_tango_client_api/lib/armeabi-v7a/* $prefix/armeabi-v7a/lib/.
+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/armeabi-v7a/include/.
+cp -r lib_tango_support_api/include/* $prefix/arm64-v8a/include/.
+cp -r lib_tango_support_api/lib/armeabi-v7a/* $prefix/armeabi-v7a/lib/.
+cp -r lib_tango_support_api/lib/arm64-v8a/* $prefix/arm64-v8a/lib/.
+cp -r lib_tango_support_api/lib/* rtabmap-tango/app/android/jni/third-party/lib/.
+rm -r lib_tango_support_api
+wget 'https://docs.google.com/uc?authuser=0&id=1s5iPJ7xiridj9Jj--gCy2XiQFniheVm6&export=download' -O TangoSDK_Ikariotikos_Java.jar
+mv TangoSDK_Ikariotikos_Java.jar rtabmap-tango/app/android/libs/.
+
+# Patch to remove not supported arcore and arengine stuff on API19
+git config --global user.email "you@example.com"
+git config --global user.name "Your Name"
+cd rtabmap-tango
+git pull origin tango-api19
+
+# resource tool
+cd build
+cmake -DANDROID_PREBUILD=ON ..
+make
+cd ../..
+
+# rtabmap (do only 32 bits for api19)
+mkdir rtabmap-tango/build/armeabi-v7a
+cd rtabmap-tango/build/armeabi-v7a
+cmake -DCMAKE_TOOLCHAIN_FILE=../../cmake_modules/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DCMAKE_BUILD_TYPE=Release -DOpenCV_DIR=$prefix/armeabi-v7a/sdk/native/jni -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ../..
+make
+
+# package with binaries of both architectures
+cp -r ../armeabi-v7a/app/android/libs/armeabi-v7a app/android/libs/.
+make
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+# Image: introlab3it/rtabmap:tango-dev
+
+FROM introlab3it/rtabmap:tango
+
+WORKDIR /root/
+
+RUN apt-get update && apt-get install -y \
+      vim \
+      eclipse \
+      eclipse-cdt \
+      eclipse-cdt-jni
+      
+RUN cp ~/rtabmap-tango/build/arm64-v8a/app/android/project.properties ~/rtabmap-tango/app/android/.
+
+# Manual steps:
+# - Install ADT plugin from Eclipse: https://stuff.mit.edu/afs/sipb/project/android/docs/sdk/installing/installing-adt.html
+# - Import rtabmap project, set build command: "make -C ${ProjDirPath}/build/arm64-v8a VERBOSE=true"
+# - Create Android project from source code and select rtabmap-tango/app/android directory.