ORB_SLAM2_Android

链接：https://github.com/FangGet/ORB_SLAM2_Android

README.md 说明文件

This Project is out of date 该工程过时了

This project is an Android version for ORB_SLAM2 based on Raul Mur-Artal's opensource project: ORB_SLAM2. 该工程项目是一个基于Raul Mur-Artal的开源项目ORB_SLAM2的Android版本。

Author: Frank 作者：Frank

If anyone would like to only have a test on it, please visit:ORB_SLAM2_Android_APK; 如果有人只是想测试一下而已，那么请访问：ORB_SLAM2_Android_APK。

1.Dependency依赖项

• Eclipse with ADT and android-ndk-r11; 带有ADT和android-ndk-r11的Eclipse；
• OpenCV4Android2.4.9,download here:opencv4android 2.4.9; OpenCV4Android2.4.9,这里下载：opencv4android 2.4.9。
• All necessary dependencies required by ORB_SLAM2 except pangolin(I removed pangolin and rewrited opengl part for android);所有ORB_SLAM2所需要的依赖项，除了pangolin(我移除了pangolin，并重写了Android的opengl部分)。

2.Build Project编译工程

To build ORB_SLAM2_Android, you can simply import cloned project into eclipse and import opencv2.4.9forAndroid library into Eclipse. Then set it as ORB's library project(it may have been setted already).Run ndk-build and library will be generated into libs directory. After all this, your work tree will be like this:

要编译ORB_SLAM2_Android，你只需要简单地引入克隆项目，然后引入opencv2.4.9forAndroid。然后将它设为ORB的库项目（这可能已经被设立了）。运行ndk-build，然后库将被生成到libs目录。做完这些后，你的项目树将看起来像这样子：

To convert it into Android Studio, you need to create a new AS project and add core code as a module of it while opencv library will also be a module.

3.Using Instruction

1. if you want to test camera mode, please make sure you have installed corresponding version of opencvForAndroid library into your phone and it has been opened;
2. open the apk. There are two parts for ORB,namely dataset-mode and camera-mode: 
3. select dataset-mode and select corresponding files for test(you have to pull ORBvoc.txt/TUMX.yaml/dataset to you external storage), ps:there is a button named select special for directory select; 
4. finish and start SLAM,then voc will be loaded, this may take about one minute(depend on your phone) and system will run automaticlly after initiate step finished; 
5. camera-mode is nearly the same as dataset mode;

4.Something else

1. you can change size of camera preview in res/activity_camera _orb.xml;
2. there is some bug with the demonstrate of camera pose, if anyone want to fix it, they can modify MapDrawer::DrawCurrentCamera() in jni/ORB_SLAM2/src/MapDrawer.cc
3. some dependencies inside jni/Thirdparty may be excess and can be removed. I have never checked for it;

5.Ending

If you have any questions, feel free to contact me fangasfrank@gmail.com

http://blog.csdn.net/zf19921020/article/details/51154358

根据楼主的配置跑起来了，但是为什么蓝色的相机姿态绘制不出来？仔细检查了一下在MapDrawer::DrawKeyFrames中 也没发现什么问题。。十分希望楼主能解答一下orz

Re: YOY_ 2017-07-27 11:51发表 [回复]

回复ouyangying123：已解决，问题是出在绘制keyframe之后的绘制点云函数中，把颜色缓存冲掉了，还有个问题就是绘制出来的路径效果很差，与pc上跑出来的效果差了不少，不知道是不是因为单目的原因。。