MultiCol-SLAM Android NDK 交叉编译问题记录

MultiCol-SLAM

ThirdParty Dependencies：

修改编译脚本：

echo "Configuring and building Thirdparty/opencv ..."
cd ThirdParty/opencv-3.1.0
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=$NDK/build/cmake/android.toolchain.cmake
make -j4
make install

cd ../../../

echo "Configuring and building Thirdparty/DBoW2 ..."
cd ThirdParty/DBoW2
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=$NDK/build/cmake/android.toolchain.cmake
make -j


cd ../../
echo "Configuring and building Thirdparty/g2o ..."

EIGEN3_INCLUDE_DIR=$(pwd)/Eigen
export EIGEN3_INCLUDE_DIR

cd g2o
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=$NDK/build/cmake/android.toolchain.cmake
make

echo "Configuring and building Thirdparty/opengv ..."

cd ../../OpenGV

mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=$NDK/build/cmake/android.toolchain.cmake
make -j2

echo "Configuring and building MultiCol-SLAM ..."
cd ../../../
echo $(pwd)
mkdir build
cd build
#cmake .. -DCMAKE_BUILD_TYPE=Debug
cmake .. -DCMAKE_TOOLCHAIN_FILE=$NDK/build/cmake/android.toolchain.cmake
make -j2

开始编译首先source

source /opt/android-ndk-r21b-linux-x86_64/environment-setup-aarch64-android-linux 

 Pangolin：在android 不使用Pangolin不显示，所以用不编译

OpenCV 3：NDK中没有opencv，需要把opencv 源码放入第三方依赖，编译问题：

MultiCol-SLAM/ThirdParty/opencv-3.1.0/3rdparty/libpng/pngrutil.c:3943: undefined reference to `png_init_filter_functions_neon'

找不到png_init_filter_functions_neon实现。android NDK不支持PNG_ARM_NEON加速

修改代码如下：pngpriv.h line:128

#  if (defined(__ARM_NEON__) || defined(__ARM_NEON)) && 
改成=====================>
#   if defined(PNG_ARM_NEON) && (defined(__ARM_NEON__) || defined(__ARM_NEON)) && 

DBoW2 ：

CMake Error at CMakeLists.txt:33 (find_package):

 find opencv package 失败，NDK中没有install opencv 所以失败，CMakeLists需要手动添加include和lib路径：

clang++: error: the clang compiler does not support '-march=native'

 不支持编译标签 -march=native，CMakeLists删除-march=native

MultiCol-SLAM/ThirdParty/DBoW2/DBoW2/FORB.cpp:19:10: fatal error: 'stdint-gcc.h' file not found

 找不到stdint-gcc.h头文件，改成stdint.h

../../opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_core.a(system.cpp.o): In function `cv::error(cv::Exception const&)':
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/ThirdParty/opencv-3.1.0/modules/core/src/system.cpp:643: undefined reference to `__android_log_print'
../../opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_core.a(persistence.cpp.o): In function `icvCloseFile(CvFileStorage*)':
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/ThirdParty/opencv-3.1.0/modules/core/src/persistence.cpp:308: undefined reference to `gzclose'
../../opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_core.a(persistence.cpp.o): In function `icvRewind(CvFileStorage*)':
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/ThirdParty/opencv-3.1.0/modules/core/src/persistence.cpp:323: undefined reference to `gzrewind'
../../opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_core.a(persistence.cpp.o): In function `icvCloseFile(CvFileStorage*)':
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/ThirdParty/opencv-3.1.0/modules/core/src/persistence.cpp:308: undefined reference to `gzclose'
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/ThirdParty/opencv-3.1.0/modules/core/src/persistence.cpp:308: undefined reference to `gzclose'
../../opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_core.a(persistence.cpp.o): In function `cvOpenFileStorage':
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/ThirdParty/opencv-3.1.0/modules/core/src/persistence.cpp:2714: undefined reference to `gzopen'
../../opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_core.a(persistence.cpp.o): In function `icvPuts(CvFileStorage*, char const*)':
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/ThirdParty/opencv-3.1.0/modules/core/src/persistence.cpp:253: undefined reference to `gzputs'
../../opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_core.a(persistence.cpp.o): In function `icvGets(CvFileStorage*, char*, int)':
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/ThirdParty/opencv-3.1.0/modules/core/src/persistence.cpp:283: undefined reference to `gzgets'
../../opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_core.a(persistence.cpp.o): In function `icvEof(CvFileStorage*)':
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/ThirdParty/opencv-3.1.0/modules/core/src/persistence.cpp:297: undefined reference to `gzeof'
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/ThirdParty/opencv-3.1.0/modules/core/src/persistence.cpp:297: undefined reference to `gzeof'

 链接错误：opencv 使用了libzlib和log 在CMakeLists加入这两个链接

修改CMakeLists.txt输入下：

cmake_minimum_required(VERSION 2.8)
project(DBoW2)

IF(WIN32)
SET (DBoW2_LIB_TYPE STATIC)
ELSE()
SET (DBoW2_LIB_TYPE SHARED)
ENDIF(WIN32)

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3")

set(HDRS_DBOW2
  DBoW2/BowVector.h
  DBoW2/FORB.h 
  DBoW2/FClass.h       
  DBoW2/FeatureVector.h
  DBoW2/ScoringObject.h   
  DBoW2/TemplatedVocabulary.h)
set(SRCS_DBOW2
  DBoW2/BowVector.cpp
  DBoW2/FORB.cpp      
  DBoW2/FeatureVector.cpp
  DBoW2/ScoringObject.cpp)

set(HDRS_DUTILS
  DUtils/Random.h
  DUtils/Timestamp.h)
set(SRCS_DUTILS
  DUtils/Random.cpp
  DUtils/Timestamp.cpp)


SET(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../opencv-3.1.0/build/install/sdk/native/jni)

FIND_PACKAGE(OpenCV QUIET )

IF(NOT OpenCV_FOUND)

SET(OpenCV_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/../opencv-3.1.0/build/install/sdk/native/jni/include)
SET(OpenCV_LIBS ${PROJECT_SOURCE_DIR}/../opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_core.a)

ENDIF()


set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

include_directories(${OpenCV_INCLUDE_DIRS})
add_library(DBoW2 ${DBoW2_LIB_TYPE} ${SRCS_DBOW2} ${SRCS_DUTILS})

target_link_libraries(DBoW2 -lz -llog ${OpenCV_LIBS})

g2o：

clang++: error: the clang compiler does not support '-march=native'

 同上修改CMakeLists

MultiCol-SLAM/ThirdParty/g2o/g2o/types/../core/hyper_graph.h:41:10: fatal error: 'tr1/unordered_map' file not found

 不支持android的NDK 中没有tr1目录直接使用unordered_map，代码中有多个tr1的目录都需要修改

Eigen 3：只是头文件引用

OpenGV：

clang++: error: the clang compiler does not support '-march=native'

  同上修改CMakeLists

MultiCol-SLAM：

CMake Error at CMakeLists.txt:43 (find_package):

 find opencv package 失败，同上。

CMake Error in CMakeLists.txt:
  No cmake_minimum_required command is present.  A line of code such as

增加cmake版本信息

clang++: error: the clang compiler does not support '-march=native'

 同上

MultiCol-SLAM/include/cam_model_omni.h:38:10: fatal error: 'opencv2/opencv.hpp' file not found

CMakeLists.txt 加opencv 头文件目录

MultiCol-SLAM/include/cMapPublisher.h:36:10: fatal error: 'pangolin/pangolin.h' file not found

因为不需要描画显示，删除使用pangolin 和 cViewer

In file included from /home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/cOptimizerLoopStuff.cpp:27:
In file included from /home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/include/cOptimizer.h:30:
In file included from /home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/include/cMap.h:31:
In file included from /home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/include/cMapPoint.h:31:
In file included from /home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/include/cMultiKeyFrame.h:38:
In file included from /home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/ThirdParty/DBoW2/DBoW2/BowVector.h:14:
/opt/android-ndk-r21b-linux-x86_64/android-ndk-r21b/toolchains/llvm/prebuilt/linux-x86_64/sysroot/usr/include/c++/v1/map:910:5: error: static_assert failed due to requirement 'is_same<std::__ndk1::pair<const MultiColSLAM::cMultiKeyFrame *, g2o::Sim3>, std::__ndk1::pair<MultiColSLAM::cMultiKeyFrame *const, g2o::Sim3> >::value' "Allocator::value_type must be same type as value_type"
    static_assert((is_same<typename allocator_type::value_type, value_type>::value),
    ^              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/cOptimizerLoopStuff.cpp:315:18: note: in instantiation of template class 'std::__ndk1::map<MultiColSLAM::cMultiKeyFrame *, g2o::Sim3, std::__ndk1::less<MultiColSLAM::cMultiKeyFrame *>, Eigen::aligned_allocator<std::__ndk1::pair<const MultiColSLAM::cMultiKeyFrame *, g2o::Sim3> > >' requested here
                        cLoopClosing::KeyFrameAndPose::const_iterator it = CorrectedSim3.find(pMKF)

 修改const位置

		typedef std::map<cMultiKeyFrame*, g2o::Sim3, std::less<cMultiKeyFrame*>,
			Eigen::aligned_allocator<std::pair<const cMultiKeyFrame*, g2o::Sim3> > > KeyFrameAndPose;
修改成====================================>
typedef std::map<cMultiKeyFrame*, g2o::Sim3, std::less<cMultiKeyFrame*>,
			Eigen::aligned_allocator<std::pair< cMultiKeyFrame* const, g2o::Sim3> > > KeyFrameAndPose;

CMakeFiles/MultiCol-SLAM.dir/src/cam_model_omni.cpp.o: In function `MultiColSLAM::CreateMirrorMask(MultiColSLAM::cCamModelGeneral_, int, std::__ndk1::vector<cv::Mat, std::__ndk1::allocator<cv::Mat> >&)':
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/cam_model_omni.cpp:191: undefined reference to `cv::buildPyramid(cv::_InputArray const&, cv::_OutputArray const&, int, int)'
CMakeFiles/MultiCol-SLAM.dir/src/cMultiFramePublisher.cpp.o: In function `MultiColSLAM::cMultiFramePublisher::DrawMultiFrame(std::__ndk1::vector<cv::Mat, std::__ndk1::allocator<cv::Mat> >&)':
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/cMultiFramePublisher.cpp:120: undefined reference to `cv::cvtColor(cv::_InputArray const&, cv::_OutputArray const&, int, int)'
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/cMultiFramePublisher.cpp:131: undefined reference to `cv::line(cv::_InputOutputArray const&, cv::Point_<int>, cv::Point_<int>, cv::Scalar_<double> const&, int, int, int)'
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/cMultiFramePublisher.cpp:154: undefined reference to `cv::rectangle(cv::_InputOutputArray const&, cv::Point_<int>, cv::Point_<int>, cv::Scalar_<double> const&, int, int, int)'
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/cMultiFramePublisher.cpp:155: undefined reference to `cv::circle(cv::_InputOutputArray const&, cv::Point_<int>, int, cv::Scalar_<double> const&, int, int, int)'
CMakeFiles/MultiCol-SLAM.dir/src/cMultiFramePublisher.cpp.o: In function `MultiColSLAM::cMultiFramePublisher::DrawTextInfo(cv::Mat&, int, cv::Mat&)':
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/cMultiFramePublisher.cpp:207: undefined reference to `cv::getTextSize(cv::String const&, int, double, int, int*)'
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/cMultiFramePublisher.cpp:212: undefined reference to `cv::putText(cv::_InputOutputArray const&, cv::String const&, cv::Point_<int>, int, double, cv::Scalar_<double>, int, int, bool)'
CMakeFiles/MultiCol-SLAM.dir/src/cSim3Solver.cpp.o: In function `MultiColSLAM::cSim3Solver::computeT(cv::Matx<double, 3, 3>&, cv::Matx<double, 3, 3>&)':
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/cSim3Solver.cpp:339: undefined reference to `cv::Rodrigues(cv::_InputArray const&, cv::_OutputArray const&, cv::_OutputArray const&)'
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/cSim3Solver.cpp:349: undefined reference to `cv::pow(cv::_InputArray const&, double, cv::_OutputArray const&)'
CMakeFiles/MultiCol-SLAM.dir/src/mdBRIEFextractorOct.cpp.o: In function `MultiColSLAM::mdBRIEFextractorOct::ComputeKeyPointsOctTree(std::__ndk1::vector<std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> >, std::__ndk1::allocator<std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> > > >&)':
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/mdBRIEFextractorOct.cpp:870: undefined reference to `cv::AgastFeatureDetector::create(int, bool, int)'
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/mdBRIEFextractorOct.cpp:872: undefined reference to `cv::FastFeatureDetector::create(int, bool, int)'
CMakeFiles/MultiCol-SLAM.dir/src/mdBRIEFextractorOct.cpp.o: In function `MultiColSLAM::IC_Angle(cv::Mat const&, cv::Point_<float>, std::__ndk1::vector<int, std::__ndk1::allocator<int> > const&)':
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/mdBRIEFextractorOct.cpp:247: undefined reference to `cv::fastAtan2(float, float)'
CMakeFiles/MultiCol-SLAM.dir/src/mdBRIEFextractorOct.cpp.o: In function `MultiColSLAM::mdBRIEFextractorOct::ComputeKeyPointsOld(std::__ndk1::vector<std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> >, std::__ndk1::allocator<std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> > > >&)':
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/mdBRIEFextractorOct.cpp:1059: undefined reference to `cv::FAST(cv::_InputArray const&, std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> >&, int, bool)'
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/mdBRIEFextractorOct.cpp:1065: undefined reference to `cv::FAST(cv::_InputArray const&, std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> >&, int, bool)'
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/mdBRIEFextractorOct.cpp:1130: undefined reference to `cv::KeyPointsFilter::retainBest(std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> >&, int)'
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/mdBRIEFextractorOct.cpp:1148: undefined reference to `cv::KeyPointsFilter::retainBest(std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> >&, int)'
CMakeFiles/MultiCol-SLAM.dir/src/mdBRIEFextractorOct.cpp.o: In function `MultiColSLAM::mdBRIEFextractorOct::ComputePyramid(cv::Mat, cv::Mat)':
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/mdBRIEFextractorOct.cpp:1179: undefined reference to `cv::resize(cv::_InputArray const&, cv::_OutputArray const&, cv::Size_<int>, double, double, int)'
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/mdBRIEFextractorOct.cpp:1182: undefined reference to `cv::resize(cv::_InputArray const&, cv::_OutputArray const&, cv::Size_<int>, double, double, int)'
CMakeFiles/MultiCol-SLAM.dir/src/mdBRIEFextractorOct.cpp.o: In function `MultiColSLAM::mdBRIEFextractorOct::operator()(cv::_InputArray const&, cv::_InputArray const&, std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> >&, MultiColSLAM::cCamModelGeneral_&, cv::_OutputArray const&, cv::_OutputArray const&)':
/home/yangtze/SLAM/MultiColBase/MultiCol-SLAM/src/mdBRIEFextractorOct.cpp:1301: undefined reference to `cv::boxFilter(cv::_InputArray const&, cv::_OutputArray const&, int, cv::Size_<int>, cv::Point_<int>, bool, int)'

 链接错误，大部分的opencv库都是用了，所以需要把所有opencv 和opencv的第三方库都加进来，由于链接是用顺序的，依赖库放在后面，如opencv_highgui依赖 opencv_imgproc 依赖opencv_core，被依赖库 opencv_core放在最后。

CMakeLists.txt如下：

# This file is part of MultiCol-SLAM
#
# Copyright (C) 2015-2016 Steffen Urban <rurbste at googlemail.com>
# For more information see <https://github.com/urbste/MultiCol-SLAM>
#
# MultiCol-SLAM is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# MultiCol-SLAM is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with MultiCol-SLAM . If not, see <http://www.gnu.org/licenses/>.
cmake_minimum_required(VERSION 2.8)

project (MultiCol-SLAM)

IF(NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE Release)
ENDIF()

if (WIN32)
SET (MCSSLAM_LIB_TYPE )
else()
SET (MCSSLAM_LIB_TYPE SHARED)
endif(WIN32)

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

IF(WIN32)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -openmp -W0 -MP")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -openmp -W0 -MP")
ELSE()
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fopenmp -O3 -std=c++11")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp -O3  -std=c++11")

MESSAGE("${CMAKE_CXX_FLAGS}")
ENDIF()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

SET(OpenCV_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/jni/include)
SET(OpenCV_LIBS 
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_calib3d.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_features2d.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_flann.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_highgui.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_imgcodecs.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_imgproc.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_core.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_ml.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_objdetect.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_photo.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_shape.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_stitching.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_ts.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_photo.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_video.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_videoio.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/libs/arm64-v8a/libopencv_videostab.a)


SET(OpenCV_LIBS_THIRD
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/3rdparty/libs/arm64-v8a/libIlmImf.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/3rdparty/libs/arm64-v8a/liblibjasper.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/3rdparty/libs/arm64-v8a/liblibjpeg.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/3rdparty/libs/arm64-v8a/liblibpng.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/3rdparty/libs/arm64-v8a/liblibtiff.a
${PROJECT_SOURCE_DIR}/ThirdParty/opencv-3.1.0/build/install/sdk/native/3rdparty/libs/arm64-v8a/liblibwebp.a)

# ==============================================================================
# Search OpenGV
# ============================================================================== 
#FIND_PACKAGE(OpenGV QUIET HINTS ${OpenGV_DIR_HINTS})
#IF(NOT OpenGV_FOUND)
SET(OpenGV_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/ThirdParty/OpenGV/include)
SET(OpenGV_LIBRARIES opengv)
MESSAGE("OpenGV include DIR ${OpenGV_INCLUDE_DIR}")
INCLUDE_DIRECTORIES(${OpenGV_INCLUDE_DIR})
#ENDIF()

# ==============================================================================
# Search g2o includes
# ============================================================================== 
#FIND_PACKAGE(g2o QUIET HINTS ${g2o_DIR_HINTS})
#IF(NOT g2o_FOUND)
SET(g2o_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/ThirdParty/g2o)
SET(g2o_LIBRARIES g2o)
MESSAGE("g2o include DIR ${g2o_INCLUDE_DIR}")
INCLUDE_DIRECTORIES(${g2o_INCLUDE_DIR})
#ENDIF()

# ==============================================================================
# Search Eigen, borrowed from openMVG
# this makes it a lot smoother for Windows
# ==============================================================================
# - internal by default, (Eigen version 3.2.9)
# - external if EIGEN_INCLUDE_DIR_HINTS is defined
# ============================================================================== 
IF(NOT DEFINED EIGEN_INCLUDE_DIR_HINTS)
  SET(EIGEN_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/ThirdParty/Eigen)
  MESSAGE("Eigen include DIR ${EIGEN_INCLUDE_DIR}")
  #SET(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/ThirdParty/Eigen/cmake)
  #FIND_PACKAGE(Eigen3 REQUIRED)
  #MESSAGE("-- Eigen version ${EIGEN3_VERSION}: ${EIGEN3_INCLUDE_DIR}")
  #INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
  SET(MultiCol-SLAM_USE_INTERNAL_EIGEN ON)
  INCLUDE_DIRECTORIES(${EIGEN_INCLUDE_DIR})
ENDIF()


SET(MultiColHeaders
include/cam_model_omni.h
include/cam_system_omni.h
include/cConverter.h
include/cMultiFrame.h
include/cMultiFramePublisher.h
include/cMultiKeyFrame.h
include/cConverter.h
include/cMapPoint.h
include/cMap.h
include/cMapPublisher.h
include/cLocalMapping.h
include/cLoopClosing.h
include/cOptimizer.h
include/cORBVocabulary.h
include/cORBmatcher.h
include/cMultiFrame.h
include/cMultiKeyFrameDatabase.h
include/cSim3Solver.h
include/cSystem.h
include/cTracking.h
include/cMultiInitializer.h
#include/cViewer.h
include/mdBRIEFextractorOct.h
include/misc.h
#include/MultiCol_cayley_jacobians.h
include/g2o_MultiCol_vertices_edges.h
include/g2o_MultiCol_sim3_expmap.h
)

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${PROJECT_SOURCE_DIR}/ThirdParty
${PROJECT_SOURCE_DIR}/ThirdParty/g2o
${OpenCV_INCLUDE_DIRS}
)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

add_library(${PROJECT_NAME} ${MCSSLAM_LIB_TYPE}
src/cam_model_omni.cpp
src/cam_system_omni.cpp
src/cConverter.cpp
src/cMultiFrame.cpp
src/cMultiFramePublisher.cpp
src/cMultiKeyFrame.cpp
src/cConverter.cpp
src/cMapPoint.cpp
src/cMap.cpp
src/cMapPublisher.cpp
src/cOptimizer.cpp
src/cOptimizerLoopStuff.cpp
src/cMultiFrame.cpp
src/cMultiKeyFrameDatabase.cpp
src/cSim3Solver.cpp
src/cSystem.cpp
src/cMultiInitializer.cpp
src/mdBRIEFextractorOct.cpp
src/cTracking.cpp
src/cLocalMapping.cpp
src/cLoopClosing.cpp
#src/cViewer.cpp
src/cORBmatcher.cpp
src/g2o_MultiCol_sim3_expmap.cpp
src/g2o_MultiCol_vertices_edges.cpp
src/misc.cpp
${MultiColHeaders}
)

IF(WIN32)
SET (G2OLIBS_DEBUG ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/bin/Debug/g2o.lib)
SET (DBOW2LIBS_DEBUG  ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/Debug/DBoW2.lib)
SET (OPENGVLIBS_DEBUG  ${PROJECT_SOURCE_DIR}/ThirdParty/OpenGV/build/lib/Debug/opengv.lib) 
SET (RANDOMGENLIBS_DEBUG ${PROJECT_SOURCE_DIR}/ThirdParty/OpenGV/build/lib/Debug/random_generators.lib)
    
SET (G2OLIBS ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/bin/Release/g2o.lib)
SET (DBOW2LIBS ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/Release/DBoW2.lib)
SET (OPENGVLIBS ${PROJECT_SOURCE_DIR}/ThirdParty/OpenGV/build/lib/Release/opengv.lib) 
SET (RANDOMGENLIBS ${PROJECT_SOURCE_DIR}/ThirdParty/OpenGV/build/lib/Release/random_generators.lib)
ELSE()
SET (G2OLIBS ${PROJECT_SOURCE_DIR}/ThirdParty/g2o/lib/libg2o.so)
SET (DBOW2LIBS ${PROJECT_SOURCE_DIR}/ThirdParty/DBoW2/lib/libDBoW2.so)
SET (OPENGVLIBS ${PROJECT_SOURCE_DIR}/ThirdParty/OpenGV/build/lib/librandom_generators.a
                ${PROJECT_SOURCE_DIR}/ThirdParty/OpenGV/build/lib/libopengv.a)
ENDIF()

IF(WIN32)
target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${Pangolin_LIBRARIES}
optimized ${G2OLIBS}
optimized ${DBOW2LIBS}
optimized ${OPENGVLIBS}
optimized ${RANDOMGENLIBS}
debug ${G2OLIBS_DEBUG}
debug ${DBOW2LIBS_DEBUG}
debug ${OPENGVLIBS_DEBUG}
debug ${RANDOMGENLIBS_DEBUG})
ELSE()
target_link_libraries(${PROJECT_NAME}
-lz -llog
${OpenCV_LIBS}
${OpenCV_LIBS_THIRD}
${Pangolin_LIBRARIES}
${G2OLIBS}
${DBOW2LIBS}
${OPENGVLIBS}
${RANDOMGENLIBS})
ENDIF()

# Build examples
MESSAGE("${PROJECT_NAME}")
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Lafida)
add_executable(multi_col_slam_lafida Examples/Lafida/mult_col_slam_lafida.cpp)
target_link_libraries(multi_col_slam_lafida ${PROJECT_NAME})

openmp:

在执行时，找不到openmp链接，下载对应版本的src编译,我用的是android 9.0 所以使用如下链接下载源码：https://releases.llvm.org/9.0.0/openmp-9.0.0.src.tar.xz