Question

我编译了PCL-SuperBuild文件夹，因为这些链接描述了：

链接1：https://hcteq.wordpress.com/2014/07/14/compiling-pcl-for-android-in-windows-cmake-gui/# 链接2：http://www.hirotakaster.com/weblog/how-to-build-pcl-for-android-memo/

成功完成。但是，我不知道如何在我的项目中使用该库，任何人都可以详细说明吗？

我试图在https://github.com/roomplan/tango-examples-java.git中运行代码，使用PCL运行Point Cloud，我尝试编写Android.mk文件，但我有字段。

注意到，我使用Android Studio和NDK，Windows 8作为运行操作系统。

修改我已经解决了PCL链接到我的项目的问题，图书馆已经认识到并且项目已成功构建。但是，当我在Tango设备上运行应用程序时，我得到了一个不满意的感觉，如下所示：

? E/art: dlopen("/data/app-lib/com.projecttango.experiments.javapointcloud-2/libhelloPcl.so", RTLD_LAZY) failed: dlopen failed: could not load library "libflann.so" needed by "libhelloPcl.so"; caused by library "libflann.so" not found
? D/AndroidRuntime: Shutting down VM
? E/AndroidRuntime: FATAL EXCEPTION: main
   Process: com.projecttango.experiments.javapointcloud, PID: 2119
            java.lang.UnsatisfiedLinkError: dlopen failed: could not load library "libflann.so" needed by "libhelloPcl.so"; caused by library "libflann.so" not found
            at java.lang.Runtime.loadLibrary(Runtime.java:364)
            at java.lang.System.loadLibrary(System.java:526)
            at com.projecttango.experiments.javapointcloud.PointCloudActivity.onCreate(PointCloudActivity.java:81)
            at android.app.Activity.performCreate(Activity.java:5231)
            at android.app.Instrumentation.callActivityOnCreate(Instrumentation.java:1087)
            at android.app.ActivityThread.performLaunchActivity(ActivityThread.java:2160)
            at android.app.ActivityThread.handleLaunchActivity(ActivityThread.java:2246)
            at android.app.ActivityThread.access$800(ActivityThread.java:136)
            at android.app.ActivityThread$H.handleMessage(ActivityThread.java:1197)
            at android.os.Handler.dispatchMessage(Handler.java:102)
            at android.os.Looper.loop(Looper.java:136)
            at android.app.ActivityThread.main(ActivityThread.java:5030)
            at java.lang.reflect.Method.invoke(Native Method)
            at com.android.internal.os.ZygoteInit$MethodAndArgsCaller.run(ZygoteInit.java:793)
            at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:609)

这是我的Application.MK

APP_STL := gnustl_static
APP_ABI := armeabi-v7a
APP_PLATFORM := android-19
APP_CPPFLAGS := -frtti -fexceptions

Android.mk

LOCAL_PATH := $(call my-dir)
PROJECT_ROOT_FROM_JNI := ../../../../..
PROJECT_ROOT:= $(LOCAL_PATH)/$(PROJECT_ROOT_FROM_JNI)

PCL_INCLUDE := $(LOCAL_PATH)/../../../../../PCL/pcl-android
BOOST_ANDROID_INCLUDE := $(LOCAL_PATH)/../../../../../PCL/boost-android
FLANN_INCLUDE := $(LOCAL_PATH)/../../../../../PCL/flann-android
EIGEN_INCLUDE := $(LOCAL_PATH)/../../../../../PCL/eigen    

# PCL libraries
PCL_STATIC_LIB_DIR := $(PCL_INCLUDE)/lib
BOOST_STATIC_LIB_DIR := $(BOOST_ANDROID_INCLUDE)/lib
FLANN_STATIC_LIB_DIR := $(FLANN_INCLUDE)/lib

PCL_STATIC_LIBRARIES :=     pcl_common pcl_geometry pcl_kdtree pcl_octree pcl_sample_consensus pcl_surface \
                            pcl_features pcl_keypoints pcl_search pcl_tracking pcl_filters pcl_ml \
                            pcl_registration pcl_segmentation
BOOST_STATIC_LIBRARIES :=   boost_date_time boost_iostreams boost_regex boost_system \
                            boost_filesystem boost_program_options boost_signals boost_thread
FLANN_STATIC_LIBRARIES :=   flann_s flann_cpp_s


define build_pcl_static
    include $(CLEAR_VARS)
    LOCAL_MODULE:=$1
    LOCAL_SRC_FILES:=$(PCL_STATIC_LIB_DIR)/lib$1.a
    include $(PREBUILT_STATIC_LIBRARY)
endef

define build_boost_static
    include $(CLEAR_VARS)
    LOCAL_MODULE:=$1
    LOCAL_SRC_FILES:=$(BOOST_STATIC_LIB_DIR)/lib$1.a
    include $(PREBUILT_STATIC_LIBRARY)
endef

define build_flann_static
    include $(CLEAR_VARS)
    LOCAL_MODULE:=$1
    LOCAL_SRC_FILES:=$(FLANN_STATIC_LIB_DIR)/lib$1.a
    include $(PREBUILT_STATIC_LIBRARY)
endef

$(foreach module,$(PCL_STATIC_LIBRARIES),$(eval $(call build_pcl_static,$(module))))
$(foreach module,$(BOOST_STATIC_LIBRARIES),$(eval $(call build_boost_static,$(module))))
$(foreach module,$(FLANN_STATIC_LIBRARIES),$(eval $(call build_flann_static,$(module))))


include $(CLEAR_VARS)

# Project and linking

#opencv
#OPENCVROOT:= $(LOCAL_PATH)/../../../../../OpenCV-android-sdk
#OPENCV_CAMERA_MODULES:=on
#OPENCV_INSTALL_MODULES:=on
#OPENCV_LIB_TYPE:=SHARED
#include ${OPENCVROOT}/sdk/native/jni/OpenCV.mk

LOCAL_MODULE    := helloPcl

#LOCAL_SHARED_LIBRARIES := tango_client_api

LOCAL_CFLAGS    := -std=gnu++11
#-Werror -std=c++11

LOCAL_SRC_FILES := hello-pcl.ccp

LOCAL_C_INCLUDES := $(PROJECT_ROOT)/tango-gl/include \
                    $(PROJECT_ROOT)/third-party/glm/ \
                    $(PCL_INCLUDE)/include/pcl-1.6 \
                    $(BOOST_ANDROID_INCLUDE)/include \
                    $(EIGEN_INCLUDE) \
                    $(FLANN_INCLUDE)/include


LOCAL_LDFLAGS += -L$(PCL_INCLUDE)/lib  \
                 -L$(BOOST_ANDROID_INCLUDE)/lib \
                 -L$(FLANN_INCLUDE)/lib

LOCAL_SHARED_LIBRARIES   += pcl_common pcl_geometry pcl_search pcl_kdtree pcl_octree pcl_sample_consensus \
                            pcl_surface pcl_features pcl_filters pcl_keypoints pcl_tracking pcl_ml \
                            pcl_registration pcl_segmentation

LOCAL_SHARED_LIBRARIES   += boost_date_time boost_iostreams boost_regex boost_system \
                            boost_filesystem boost_program_options boost_signals boost_thread

LOCAL_SHARED_LIBRARIES   += flann flann_cpp

LOCAL_LDLIBS    += -L$(SYSROOT)/usr/lib \
                   -lstdc++ -lc -lm -llog -landroid -ldl -lGLESv2 -lEGL \
                   -lpcl_common -lpcl_geometry -lpcl_search -lpcl_kdtree -lpcl_octree -lpcl_sample_consensus \
                   -lpcl_surface -lpcl_features -lpcl_filters -lpcl_keypoints -lpcl_tracking -lpcl_ml \
                   -lpcl_registration -lpcl_segmentation \
                   -lflann -lflann_cpp

LOCAL_CFLAGS += -mfloat-abi=softfp -mfpu=neon -march=armv7 -mthumb -O3

include $(BUILD_SHARED_LIBRARY)

#$(call import-add-path, $(PROJECT_ROOT))
#$(call import-module,tango_client_api)

注意：我已将PCL代码更改为链接中的HelloPCL示例：https://github.com/otherlab/pcl/blob/master/mobile_apps/android/PCLAndroidSample

我的app.gradle如下：

apply plugin: 'com.android.application'

android {
    compileSdkVersion 19
    buildToolsVersion "21.1.2"


    defaultConfig {
        applicationId "com.projecttango.experiments.javapointcloud"
        minSdkVersion 19
        targetSdkVersion 19
        versionCode 1
        versionName "1.0"

        ndk {
            moduleName 'helloPcl'
        }
    }

    sourceSets.main {
        jni.srcDirs = [];
        jniLibs.srcDir 'src/main/libs'
    }


    buildTypes {
        release {
            minifyEnabled false
            proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro'
        }
    }

    lintOptions {
        abortOnError false
    }
}

task buildNative(type: Exec, description: 'Compile JNI source via NDK') {
    def ndkDir = android.ndkDirectory
    commandLine "$ndkDir/ndk-build.cmd",
            '-C', file('src/main/jni').absolutePath, // Change src/main/jni the relative path to your jni source
            '-j', Runtime.runtime.availableProcessors(),
            'all',
            'NDK_DEBUG=1'
}

task cleanNative(type: Exec, description: 'Clean JNI object files') {
    def ndkDir = android.ndkDirectory
    commandLine "$ndkDir/ndk-build.cmd",
            '-C', file('src/main/jni').absolutePath, // Change src/main/jni the relative path to your jni source
            'clean'
}

clean.dependsOn 'cleanNative'

tasks.withType(JavaCompile) {
    compileTask -> compileTask.dependsOn buildNative
}

def external_lib_prefix = null
if (project.hasProperty("Tango.catkin_devel_prefix")) {
    external_lib_prefix = project.property("Tango.catkin_devel_prefix")
} else {
    // Building in standalone sample form.
    external_lib_prefix = "../../TangoReleaseLibs"
}


repositories{
    flatDir{
        dirs external_lib_prefix + '/aar'
    }
}

dependencies {
    compile(name: 'tango-ux-support-library', ext: 'aar')
    compile(name: 'tango_support_java_lib', ext: 'aar')
    compile 'org.rajawali3d:rajawali:1.0.294-SNAPSHOT@aar'
    compile(name: 'TangoUtils', ext: 'aar')
    testCompile 'junit:junit:4.12'
}

任何人都会在此错误中向我提出建议

Answer 1

我上面修复了我的问题，实际上我写了hello-pcl.ccp而不是hello-pcl.cpp。

现在，我在PCL文件中存在构建问题。样本：

C:\Users\M\Desktop\Android_Projects_(Master)\tango-examples-java-master\PCL\pcl-android\include\pcl-1.6\pcl\pcl_base.h
Error:(303, 40) error: use of deleted function 'boost::shared_ptr<const sensor_msgs::PointCloud2>::shared_ptr(const boost::shared_ptr<const sensor_msgs::PointCloud2>&)'
Error:(329, 39) error: use of deleted function 'boost::shared_ptr<std::vector<int> >::shared_ptr(const boost::shared_ptr<std::vector<int> >&)'
       getIndices () { return (indices_); }

和

C:\Users\M\Desktop\Android_Projects_(Master)\tango-examples-java-master\PCL\pcl-android\include\pcl-1.6\pcl\kdtree\kdtree_flann.h
Error:(386, 25) error: use of deleted function 'boost::shared_ptr<const std::vector<int> >::shared_ptr(const boost::shared_ptr<const std::vector<int> >&)'
Error:(393, 23) error: use of deleted function 'boost::shared_ptr<const pcl::PointCloud<Eigen::Matrix<float, -1, -1> > >::shared_ptr(const boost::shared_ptr<const pcl::PointCloud<Eigen::Matrix<float, -1, -1> > >&)'
         return (input_);

我不明白为什么它会在库文件中给我错误和其他警告？

由于

修改我在源文件夹中将我的提升版本更改为1.55。另外，我已将Android.mk更改为以下内容：

LOCAL_PATH := $(call my-dir) PROJECT_ROOT_FROM_JNI := ../../../../.. PROJECT_ROOT:= $(LOCAL_PATH)/$(PROJECT_ROOT_FROM_JNI) PCL_INCLUDE := $(LOCAL_PATH)/../../../../../PCL/pcl-android BOOST_ANDROID_INCLUDE := $(LOCAL_PATH)/../../../../../PCL/boost FLANN_INCLUDE := $(LOCAL_PATH)/../../../../../PCL/flann-android EIGEN_INCLUDE := $(LOCAL_PATH)/../../../../../PCL/eigen BOOST_ANDROID := $(LOCAL_PATH)/../../../../../PCL/boost-android include $(CLEAR_VARS) # Project and linking #opencv #OPENCVROOT:= $(LOCAL_PATH)/../../../../../OpenCV-android-sdk #OPENCV_CAMERA_MODULES:=on #OPENCV_INSTALL_MODULES:=on #OPENCV_LIB_TYPE:=SHARED #include ${OPENCVROOT}/sdk/native/jni/OpenCV.mk LOCAL_MODULE := helloPcl #LOCAL_SHARED_LIBRARIES := tango_client_api LOCAL_CPP_FEATURES := rtti exceptions LOCAL_CFLAGS := --std=c++11 -fexceptions #-std=gnu++11 #-Werror -std=c++11 LOCAL_SRC_FILES := hello-pcl.cpp LOCAL_ALLOW_UNDEFINED_SYMBOLS := true LOCAL_C_INCLUDES := $(PCL_INCLUDE)/include/pcl-1.6/ \ $(BOOST_ANDROID_INCLUDE)/boost_1_45_0/ \ $(EIGEN_INCLUDE)/ \ $(FLANN_INCLUDE)/include/ LOCAL_LDFLAGS += -L$(PCL_INCLUDE)/lib \ -L$(BOOST_ANDROID_INCLUDE)/lib \ -L$(FLANN_INCLUDE)/lib LOCAL_SHARED_LIBRARIES += pcl_common pcl_geometry pcl_search pcl_kdtree pcl_octree pcl_sample_consensus \ pcl_surface pcl_features pcl_filters pcl_keypoints pcl_tracking pcl_ml \ pcl_registration pcl_segmentation LOCAL_SHARED_LIBRARIES += boost_date_time boost_iostreams boost_regex boost_system \ boost_filesystem boost_program_options boost_signals boost_thread LOCAL_SHARED_LIBRARIES += flann flann_cpp #LOCAL_CFLAGS += -mfloat-abi=softfp -mfpu=neon -march=armv7 -mthumb -O3 LOCAL_LDLIBS := -llog -lGLESv2 -L$(BOOST_ANDROID)/lib -lboost_system # Boost Libraries LOCAL_LDLIBS += -L$(BOOST_ROOT)/libs/armeabi-v7a/ # PCL Libraries LOCAL_LDLIBS += -L$(PCL_ROOT)/lib/ -lpcl_io -lpcl_io_ply -lpcl_common -lpcl_octree \ -lstdc++ -lc -lm -llog -landroid -ldl -lGLESv2 -lEGL \ -lpcl_common -lpcl_geometry -lpcl_search -lpcl_kdtree -lpcl_octree -lpcl_sample_consensus \ -lpcl_surface -lpcl_features -lpcl_filters -lpcl_keypoints -lpcl_tracking -lpcl_ml \ -lpcl_registration -lpcl_segmentation \ -lflann -lflann_cpp include $(BUILD_SHARED_LIBRARY)

正如我在下面的评论中所说，所有问题都已解决，但我遇到了问题

无法加载“libhelloPcl.so”所需的库“libflann.so”

问题：使用Android Project运行PCL库

1 个答案: