fangget / orb_slam2_android Goto Github PK

I can only use the mono mode. Does anyone know how to use RGB-D mode in APP?

I transplant the ORB_SLAM2 program to android using Android Studio, and find its too difficult to initialize the map. I install FangGet's apk in my phone, and find the same problem. Does anyone have some methods to handle this?

i dont understand the code synchronized (im) in ORBSLAMForCameraActivity.java, why to use synchronized here, could anybody help me ?

Hi @FangGet ,
I tried to install the apk you provided. I found it won't draw map and current camera pose, and it will crash at some point. Do you have any idea?

06-08 12:03:05.209  4049  4049 F DEBUG   : pid: 1135, tid: 6482, name: GLThread 34115  >>> orb.slam2.android <<<
06-08 12:03:05.209  4049  4049 F DEBUG   : signal 8 (SIGFPE), code -6 (SI_TKILL), fault addr 0x46f
06-08 12:03:05.244  4049  4049 F DEBUG   :     r0 00000000  r1 00001952  r2 00000008  r3 9e03f978
06-08 12:03:05.245  4049  4049 F DEBUG   :     r4 9e03f980  r5 9e03f930  r6 00000019  r7 0000010c
06-08 12:03:05.245  4049  4049 F DEBUG   :     r8 9e03f478  r9 00000000  sl 0000005b  fp 9e03f484
06-08 12:03:05.245  4049  4049 F DEBUG   :     ip 00000008  sp 9e03f428  lr b6c6c6d1  pc b6c6eac0  cpsr 400b0010
06-08 12:03:05.332  4049  4049 F DEBUG   : 
06-08 12:03:05.332  4049  4049 F DEBUG   : backtrace:
06-08 12:03:05.332  4049  4049 F DEBUG   :     #00 pc 00044ac0  /system/lib/libc.so (tgkill+12)
06-08 12:03:05.333  4049  4049 F DEBUG   :     #01 pc 000426cd  /system/lib/libc.so (pthread_kill+32)
06-08 12:03:05.333  4049  4049 F DEBUG   :     #02 pc 0001b88f  /system/lib/libc.so (raise+10)
06-08 12:03:05.333  4049  4049 F DEBUG   :     #03 pc 000947bc  /data/app/orb.slam2.android-1/lib/arm/libg2o.so (__aeabi_idiv0+8)
06-08 12:03:05.333  4049  4049 F DEBUG   :     #04 pc 000c9629  /data/app/orb.slam2.android-1/lib/arm/libORB_SLAM2.so (float& cv::Mat::at<float>(int)+44)
06-08 12:03:05.333  4049  4049 F DEBUG   :     #05 pc 000db2c1  /data/app/orb.slam2.android-1/lib/arm/libORB_SLAM2.so (ORB_SLAM2::MapDrawer::DrawMapPoints()+264)
06-08 12:03:05.333  4049  4049 F DEBUG   :     #06 pc 00109321  /data/app/orb.slam2.android-1/lib/arm/libORB_SLAM2.so (ORB_SLAM2::Viewer::drawGL()+32)
06-08 12:03:05.333  4049  4049 F DEBUG   :     #07 pc 002d61d5  /data/app/orb.slam2.android-1/oat/arm/base.odex (offset 0x209000) (void orb.slam2.android.nativefunc.OrbNdkHelper.glesRender()+72)
06-08 12:03:05.333  4049  4049 F DEBUG   :     #08 pc 002d5ac1  /data/app/orb.slam2.android-1/oat/arm/base.odex (offset 0x209000) (void orb.slam2.android.ORBSLAMForDataSetActivity.onDrawFrame(javax.microedition.khronos.opengles.GL10)+84)
06-08 12:03:05.334  4049  4049 F DEBUG   :     #09 pc 03025eb5  /system/framework/arm/boot.oat (offset 0x228e000)
06-08 12:03:06.261  4049  4049 E libc    : mmap fail (pid 4049, tid 4049, size 0, flags 0x2, errno 22(Invalid argument))
06-08 12:03:06.458  4049  4049 F DEBUG   : 
06-08 12:03:06.458  4049  4049 F DEBUG   : Tombstone written to: /data/tombstones/tombstone_03
06-08 12:03:06.459  4523 13957 E ActivityManager: App crashed! Process: orb.slam2.android
06-08 12:03:06.459  4049  4049 E DEBUG   : AM write failed: Broken pipe
06-08 12:03:06.462  1135  6482 F libc    : Fatal signal 11 (SIGSEGV), code 1, fault addr 0x0 in tid 6482 (GLThread34115)

当我ndk-build 这个C++代码的时候，首先是提示我ORB-SLAM2依赖于未定义的模块pangolin，然后我将ORB-SLAM2模块中的LOCAL_SHARED_LIBRARIES+=pangolin注释掉了，

接着编译出现了Android NDK: Module lapack depends on undefined modules: tmglib
然后我发现是Androi.mk文件中这一句出了问题
LOCAL_STATIC_LIBRARIES := clapack blas f2c tmglib
但是经过我查询clapack的项目确实没有发现有tmglib这个头文件或者静态链接库，请问如何解决这个问题
我查看clapack代码的网址是（https://github.com/simonlynen/android_libs）

When I run the code on eclipse genymotion,I could only see many pictures and finally stop and get the result like this,does anyone know why?

it is a great work, could you provide a user guide to use the code in AS? thanks

Hi,
Can anyone guide me as to which dataset file I need to download and how to load that into the app?
Thanks

i want to save the trajectory of camera ,generating the file KeyFrameTrajectory.txt ,like running in ros .what should i do ? Directly modificating in jni or in android layer to save the trajectory ? ?

in file ORBSLAMForDatasetActivity.java:151, a line of code for (File file : dir.listFiles()) should be improved because the method listFiles makes no guarantees about the order of the files returned

Hi, I'm a novice in this aspect.

I found TUM's dataset source Web:
http://vision.in.tum.de/data/datasets/rgbd-dataset

but I don't know how to build yaml & voc file,
and calibrate my cellphone camera, automatically generate the necessary files.

please help me ~~~thank you very much!!!
hope this problem won't be too idiot...

this is my email : [email protected]

`/home/jason/workspace/AndroidStudioProjects/ORBSLAM2/app/src/main/jni/Thirdparty/clapack/TESTING/MATGEN/f2c.h
Error:(1, 1) error: expected identifier or '('
../../INCLUDE/f2c.h
^
static integer c__4 = 4;
^
static integer c__12 = 12;
^
static integer c__8 = 8;
^
static integer c__40 = 40;
^
static integer c__2 = 2;
^
static integer c__3 = 3;
^
static integer c__60 = 60;
^
/* Subroutine */ int dlatm6_(integer *type__, integer *n, doublereal a,
^
/ Subroutine */ int dlatm6_(integer *type__, integer *n, doublereal a,
^
/ Subroutine */ int dlatm6_(integer *type__, integer *n, doublereal *a,
^
integer *lda, doublereal *b, doublereal *x, integer *ldx, doublereal *
^
integer *lda, doublereal *b, doublereal *x, integer *ldx, doublereal *
^
integer *lda, doublereal *b, doublereal *x, integer *ldx, doublereal *
^
integer *lda, doublereal *b, doublereal *x, integer *ldx, doublereal *
^
integer *lda, doublereal *b, doublereal *x, integer *ldx, doublereal *
^
y, integer *ldy, doublereal *alpha, doublereal *beta, doublereal *wx,
^
y, integer *ldy, doublereal *alpha, doublereal *beta, doublereal *wx,
^
/home/jason/workspace/AndroidStudioProjects/ORBSLAM2/app/src/main/jni/Thirdparty/clapack/TESTING/MATGEN/dlatm6.c
Error:(19, 8) error: unknown type name 'integer'
Error:(20, 8) error: unknown type name 'integer'
Error:(21, 8) error: unknown type name 'integer'
Error:(22, 8) error: unknown type name 'integer'
Error:(23, 8) error: unknown type name 'integer'
Error:(24, 8) error: unknown type name 'integer'
Error:(25, 8) error: unknown type name 'integer'
Error:(27, 30) error: unknown type name 'integer'
Error:(27, 47) error: unknown type name 'integer'
Error:(27, 59) error: unknown type name 'doublereal'
Error:(28, 2) error: unknown type name 'integer'
Error:(28, 16) error: unknown type name 'doublereal'
Error:(28, 31) error: unknown type name 'doublereal'
Error:(28, 46) error: unknown type name 'integer'
Error:(28, 60) error: unknown type name 'doublereal'
Error:(29, 5) error: unknown type name 'integer'
Error:(29, 19) error: unknown type name 'doublereal'
Error:(29, 38) error: unknown type name 'doublereal'
y, integer *ldy, doublereal *alpha, doublereal *beta, doublereal *wx,
^
fatal error: too many errors emitted, stopping now [-ferror-limit=]
20 errors generated.
make: *** [/home/jason/workspace/AndroidStudioProjects/ORBSLAM2/app/build/intermediates/ndk/debug/obj/local/armeabi-v7a/objs/ORBSLAM2JNI//home/jason/workspace/AndroidStudioProjects/ORBSLAM2/app/src/main/jni/Thirdparty/clapack/TESTING/MATGEN/dlatm6.o] Error 1
Error:Execution failed for task ':app:compileDebugNdk'.

com.android.ide.common.process.ProcessException: org.gradle.process.internal.ExecException: Process 'command '/home/jason/program/android-ndk-r14b/ndk-build'' finished with non-zero exit value 2`

how to solve