ORB_SLAM2_Android _orb_slam2

君不见长松卧壑困风霜，时来屹立扶明堂。这篇文章主要讲述ORB_SLAM2_Android相关的知识，希望能为你提供帮助。
【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This Project is out of date 该工程过时了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：

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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

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;
open the apk. There are two parts for ORB,namely dataset-mode and camera-mode:
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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;
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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;
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camera-mode is nearly the same as dataset mode;

4.Something else

you can change size of camera preview in res/activity_camera _orb.xml;
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
some dependencies inside jni/Thirdparty may be excess and can be removed. I have never checked for it;

5.EndingIf you have any questions, feel free to contact me [email protected]