Build rtabmap for arcore android

[varz]

Hello Mathieu!
I am writing to you from a snowy country. Please tell me how to compile rtabmap for samsung a32 with arcore?
I've tried everything: both cmake build and docker build. Unfortunately cmake is not built at all. Docker is built but not installed. I'm desperate.
I really need rtabmap as a mobile room scanner
Many thanks!

[matlabbe]

Hi,

Your best bet would be to use the APK built from this docker image (like this):

$ docker pull introlab3it/rtabmap:android26
$ docker run --name=rtabmap introlab3it/rtabmap:android26
$ docker cp rtabmap:/root/rtabmap-tango/build/arm64-v8a/app/android/bin/RTABMap-debug.apk .
$ docker rm rtabmap # cleanup container
$ adb install -r RTABMap-debug.apk

I don't promise anything, it has only been tested on Samsung Note10+. The a32 seems to have also a depth camera, though not sure if Samsung changed how we have to access it from android (depth camera API on android is not standard right now). To get depth data, you have to choose ARCore Java driver in App Settings (NDK driver doesn't support depth).

If it works, tell me and share me a database created with it, so I may put more effort to make an official release on Google Play Store.

cheers,
Mathieu

[varz]

Thank you! Now I understand what needs to be fixed. If successful, I will inform You

[thnewlands]

Hi there! I was able to build this for my Samsung S20 Ultra and it scans / performs really well! It crashed the first time I tried to scan a complex scene but I definitely feel like this sort of work is worth moving into the next generation of Android devices with depth sensors.

[matlabbe]

Hi,

thx for the feedback on S20 Ultra! I will try to find time to test again on my Note10+ with the latest code to see if I can reproduce your crash, and hopefully if it is not hardware specific to S20.