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This project is an Android version for ORB_SLAM2 based on Raul Mur-Artal's opensource project: ORB_SLAM2.

Author: Frank

If anyone would like to only have a test on it, please visit:ORB_SLAM2_Android_APK;

1.Dependency

• Eclipse with ADT and android-ndk-r11;
• OpenCV4Android2.4.9,download here:opencv4android 2.4.9;
• All necessary dependencies required by ORB_SLAM2 except pangolin(I removed pangolin and rewrited opengl part for android);

2.Build Project

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:

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 [email protected]