pcl for android

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pcl for android

Yoav Hops
Hello,
I am am trying to follow your instructions on how to setup pcl for android, based on this link:
http://dev.pointclouds.org/projects/pcl/wiki/How_to_compile_PCL_for_Android
but I am unsuccessfull..
I am not sure i made step 2 alright but for a moment lets say i did.. looking at step 3
there should be a directory named android inside the trunk..
if I understand correctly the trunk is this
http://svn.pointclouds.org/pcl/trunk/
right??
also looking at that link:
http://dev.pointclouds.org/projects/pcl/wiki/
it made me think maybe I need to install some dependents as well?


please I am working on getting pcl working on my tegra device for already 3 weeks and always fails.
I need simple instruction since I am new to this.
I am using ubunto 11.10 64 bit connected to a700..

thanks!

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Re: pcl for android

Pat Marion
Hi,

Instead of following that wiki page, try the instructions here:

http://vtk.org/Wiki/VES/Point_Cloud_Library

Use the Android NDK v7b or v8(not v8b).  Clone the superbuild here:

git clone git://github.com/patmarion/pcl-superbuild.git

This repository contains a cmake script that will checkout a specific version of PCL and compile it for Android and/or iOS.  See the "VES Developer's Guide" for more detailed instructions on superbuilds with android toolchain.

Pat

On Sat, Sep 22, 2012 at 2:40 PM, Yoav Hops <[hidden email]> wrote:
Hello,
I am am trying to follow your instructions on how to setup pcl for android, based on this link:
http://dev.pointclouds.org/projects/pcl/wiki/How_to_compile_PCL_for_Android
but I am unsuccessfull..
I am not sure i made step 2 alright but for a moment lets say i did.. looking at step 3
there should be a directory named android inside the trunk..
if I understand correctly the trunk is this
http://svn.pointclouds.org/pcl/trunk/
right??
also looking at that link:
http://dev.pointclouds.org/projects/pcl/wiki/
it made me think maybe I need to install some dependents as well?


please I am working on getting pcl working on my tegra device for already 3 weeks and always fails.
I need simple instruction since I am new to this.
I am using ubunto 11.10 64 bit connected to a700..

thanks!

_______________________________________________
[hidden email] / http://pointclouds.org
http://pointclouds.org/mailman/listinfo/pcl-users



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Re: pcl for android

rmeruane
I'm having a compilation issue. I have tried to compile it on different linux distros (Debian and Ubuntu) but I always get this error:

Linking CXX static library ../lib/libpcl_io.a
[ 24%] Built target pcl_io
Scanning dependencies of target pcl_convert_pcd_ascii_binary
[ 24%] Building CXX object io/tools/CMakeFiles/pcl_convert_pcd_ascii_binary.dir/convert_pcd_ascii_binary.cpp.o
Linking CXX executable ../../bin/pcl_convert_pcd_ascii_binary
/home/rafael/android-ndk-r8/toolchains/arm-linux-androideabi-4.4.3/prebuilt/linux-x86/bin/../lib/gcc/arm-linux-androideabi/4.4.3/../../../../arm-linux-androideabi/bin/ld: cannot find -lpthread
collect2: ld returned 1 exit status
make[5]: *** [bin/pcl_convert_pcd_ascii_binary] Error 1
make[4]: *** [io/tools/CMakeFiles/pcl_convert_pcd_ascii_binary.dir/all] Error 2
make[3]: *** [all] Error 2
make[2]: *** [CMakeExternals/Stamp/pcl-android/pcl-android-build] Error 2
make[1]: *** [CMakeFiles/pcl-android.dir/all] Error 2
make: *** [all] Error 2

Can you help me, please?
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Re: pcl for android

Radu B. Rusu
Administrator
Hmm, weird. We have the guards in place:

189     if(UNIX AND NOT ANDROID)
190       target_link_libraries(${_name} ${Boost_LIBRARIES} pthread m ${CLANG_LIBRARIES})
191     else()
192       target_link_libraries(${_name} ${Boost_LIBRARIES})
193     endif()

What SVN revision are you on?

Cheers,
Radu.
--
http://openperception.org

On 10/02/2012 10:12 AM, rmeruane wrote:

> I'm having a compilation issue. I have tried to compile it on different linux
> distros (Debian and Ubuntu) but I always get this error:
>
>
>
> Can you help me, please?
>
>
>
> --
> View this message in context: http://www.pcl-users.org/pcl-for-android-tp4022486p4022693.html
> Sent from the Point Cloud Library (PCL) Users mailing list mailing list archive at Nabble.com.
> _______________________________________________
> [hidden email] / http://pointclouds.org
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Re: pcl for android

rmeruane
Hi,

I'm using pcl-superbuild (github.com/patmarion/pcl-superbuild.git)
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Re: pcl for android

Pat Marion
Hmm, not sure about that one.  Try running make VERBOSE=1 so that you can see the full link command line.  Also, you could attach CMakeCache.txt from the CMakeExternals/Build/pcl-android directory. 

If you want, you could just avoid compiling that target, it is a binary that you probably don't need if you're just trying to get the pcl libraries.  But, it should work.  Here is the link line that I get when I run make VERBOSE=1

/source/android/android-ndk-r8/toolchains/arm-linux-androideabi-4.4.3/prebuilt/darwin-x86/bin/arm-linux-androideabi-g++   --sysroot=/source/android/android-ndk-r8/platforms/android-8/arch-arm -fsigned-char -march=armv7-a -mfloat-abi=softfp -mfpu=vfp -fPIC -Wno-psabi -frtti -fexceptions -Wall -Wextra -Wabi -Wno-unknown-pragmas -Wconversion -Wold-style-cast -fno-strict-aliasing -Wno-format-extra-args -Wno-sign-compare -mthumb -O3 -fomit-frame-pointer -DNDEBUG   -Wl,--gc-sections -Wl,-z,nocopyreloc -Wl,--fix-cortex-a8 -Wl,--no-undefined  -lstdc++ -lsupc++ -Wl,--as-needed CMakeFiles/pcl_convert_pcd_ascii_binary.dir/convert_pcd_ascii_binary.cpp.o  -o ../../bin/pcl_convert_pcd_ascii_binary -rdynamic -L/source/pcl/pcl-mobile/build/CMakeExternals/Build/pcl-android/systemlibs/armeabi-v7a -L/source/pcl/pcl-mobile/build/CMakeExternals/Install/pcl-android/libs/armeabi-v7a -L/source/pcl/pcl-mobile/build/CMakeExternals/Install/boost-android/lib /source/pcl/pcl-mobile/build/CMakeExternals/Install/boost-android/lib/libboost_system.a /source/pcl/pcl-mobile/build/CMakeExternals/Install/boost-android/lib/libboost_filesystem.a /source/pcl/pcl-mobile/build/CMakeExternals/Install/boost-android/lib/libboost_thread.a /source/pcl/pcl-mobile/build/CMakeExternals/Install/boost-android/lib/libboost_date_time.a /source/pcl/pcl-mobile/build/CMakeExternals/Install/boost-android/lib/libboost_iostreams.a ../../lib/libpcl_common.a ../../lib/libpcl_io.a ../../lib/libpcl_common.a ../../lib/libpcl_io_ply.a /source/pcl/pcl-mobile/build/CMakeExternals/Install/boost-android/lib/libboost_system.a /source/pcl/pcl-mobile/build/CMakeExternals/Install/boost-android/lib/libboost_filesystem.a /source/pcl/pcl-mobile/build/CMakeExternals/Install/boost-android/lib/libboost_thread.a /source/pcl/pcl-mobile/build/CMakeExternals/Install/boost-android/lib/libboost_date_time.a /source/pcl/pcl-mobile/build/CMakeExternals/Install/boost-android/lib/libboost_iostreams.a -Wl,-rpath,/source/pcl/pcl-mobile/build/CMakeExternals/Build/pcl-android/systemlibs/armeabi-v7a:/source/pcl/pcl-mobile/build/CMakeExternals/Install/pcl-android/libs/armeabi-v7a:/source/pcl/pcl-mobile/build/CMakeExternals/Install/boost-android/lib


Pat


On Tue, Oct 2, 2012 at 1:36 PM, rmeruane <[hidden email]> wrote:
Hi,

I'm using pcl-superbuild (github.com/patmarion/pcl-superbuild.git)



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Re: pcl for android

rmeruane
Thank you very much for helping me.

I changed some compilation params and I now I get another error.

This are my new compilation steps (I took them from Raymond Lo blog):
git clone git://github.com/patmarion/pcl-superbuild.git pcl-superbuild
cd pcl-superbuild/ && mkdir -p build && cd build && cmake -DBUILD_IOS_DEVICE:BOOL="OFF" ../
export ANDROID_NDK=/home/rafael/android-ndk-r8
cmake -DBUILD_examples:BOOL="OFF" ../../pcl-superbuild/build/CMakeExternals/Build/pcl-android/
cd ../../pcl-superbuild/build/ && make VERBOSE=1

The error I'm getting now is:

Linking CXX executable ../../bin/pcl_example_extract_clusters_normals
cd /home/rafael/pcl-superbuild/build/CMakeExternals/Build/pcl-android/examples/segmentation && /usr/bin/cmake -E cmake_link_script CMakeFiles/pcl_example_extract_clusters_normals.dir/link.txt --verbose=1
/home/rafael/android-ndk-r8/toolchains/arm-linux-androideabi-4.4.3/prebuilt/linux-x86/bin/arm-linux-androideabi-g++   --sysroot=/home/rafael/android-ndk-r8/platforms/android-8/arch-arm -fsigned-char -march=armv7-a -mfloat-abi=softfp -mfpu=vfp -fPIC -Wno-psabi -frtti -fexceptions -Wall -Wextra -Wabi -Wno-unknown-pragmas -Wconversion -Wold-style-cast -fno-strict-aliasing -Wno-format-extra-args -Wno-sign-compare -mthumb -O3 -fomit-frame-pointer -DNDEBUG   -Wl,--gc-sections -Wl,-z,nocopyreloc -Wl,--fix-cortex-a8 -Wl,--no-undefined  -lstdc++ -lsupc++ CMakeFiles/pcl_example_extract_clusters_normals.dir/example_extract_clusters_normals.cpp.o  -o ../../bin/pcl_example_extract_clusters_normals -rdynamic -L/home/rafael/pcl-superbuild/build/CMakeExternals/Build/pcl-android/systemlibs/armeabi-v7a -L/home/rafael/pcl-superbuild/build/CMakeExternals/Install/pcl-android/libs/armeabi-v7a -L/home/rafael/pcl-superbuild/build/CMakeExternals/Install/boost-android/lib ../../lib/libpcl_common.a -lpcl_visualization ../../lib/libpcl_keypoints.a ../../lib/libpcl_io.a ../../lib/libpcl_segmentation.a ../../lib/libpcl_features.a ../../lib/libpcl_filters.a ../../lib/libpcl_io_ply.a ../../lib/libpcl_search.a ../../lib/libpcl_kdtree.a ../../lib/libpcl_octree.a /home/rafael/pcl-superbuild/build/CMakeExternals/Install/flann-android/lib/libflann_cpp_s.a ../../lib/libpcl_sample_consensus.a ../../lib/libpcl_common.a /home/rafael/pcl-superbuild/build/CMakeExternals/Install/boost-android/lib/libboost_system.a /home/rafael/pcl-superbuild/build/CMakeExternals/Install/boost-android/lib/libboost_filesystem.a /home/rafael/pcl-superbuild/build/CMakeExternals/Install/boost-android/lib/libboost_thread.a /home/rafael/pcl-superbuild/build/CMakeExternals/Install/boost-android/lib/libboost_date_time.a /home/rafael/pcl-superbuild/build/CMakeExternals/Install/boost-android/lib/libboost_iostreams.a -Wl,-rpath,/home/rafael/pcl-superbuild/build/CMakeExternals/Build/pcl-android/systemlibs/armeabi-v7a:/home/rafael/pcl-superbuild/build/CMakeExternals/Install/pcl-android/libs/armeabi-v7a:/home/rafael/pcl-superbuild/build/CMakeExternals/Install/boost-android/lib
/home/rafael/android-ndk-r8/toolchains/arm-linux-androideabi-4.4.3/prebuilt/linux-x86/bin/../lib/gcc/arm-linux-androideabi/4.4.3/../../../../arm-linux-androideabi/bin/ld: cannot find -lpcl_visualization
collect2: ld returned 1 exit status
make[5]: *** [bin/pcl_example_extract_clusters_normals] Error 1
make[5]: Leaving directory `/home/rafael/pcl-superbuild/build/CMakeExternals/Build/pcl-android'
make[4]: *** [examples/segmentation/CMakeFiles/pcl_example_extract_clusters_normals.dir/all] Error 2
make[4]: Leaving directory `/home/rafael/pcl-superbuild/build/CMakeExternals/Build/pcl-android'
make[3]: *** [all] Error 2
make[3]: Leaving directory `/home/rafael/pcl-superbuild/build/CMakeExternals/Build/pcl-android'
make[2]: *** [CMakeExternals/Stamp/pcl-android/pcl-android-build] Error 2
make[2]: Leaving directory `/home/rafael/pcl-superbuild/build'
make[1]: *** [CMakeFiles/pcl-android.dir/all] Error 2
make[1]: Leaving directory `/home/rafael/pcl-superbuild/build'
make: *** [all] Error 2

I have uploaded the generated cmake cache file to: http://rafael.hf.cl/CMakeCache.txt
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Re: pcl for android

Pat Marion
Ok, to solve this one you should use cmake (or edit CMakeCache.txt) to disable the BUILD_examples variable.  There is a bug in the build scripts for this snapshot of PCL.  The build scripts try to build certain example programs that depend on the pcl visualization library, even though BUILD_visualization is OFF.  The pcl visualization library is disable for android because it depends on things like opening visualization windows which are not implemented for the android operating system.  Instead, you can use Kiwi & VES to do visualization on Android (and iOS).  The good news is, since your build is failing on the examples it means it has already successfully compiled all the pcl libraries!

Hopefully I can find some time to update the pcl mobile superbuild to set BUILD_examples OFF by default so that others can avoid this error in the future.  Or, maybe we can update the PCL snapshot to a version where the examples will respect BUILD_visualization.

Pat


On Tue, Oct 2, 2012 at 5:54 PM, rmeruane <[hidden email]> wrote:
Thank you very much for helping me.

I changed some compilation params and I now I get another error.

This are my new compilation steps (I took them from Raymond Lo blog):


The error I'm getting now is:



I have uploaded the generated cmake cache file to:
http://rafael.hf.cl/CMakeCache.txt <http://rafael.hf.cl/CMakeCache.txt>



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Re: pcl for android

rmeruane
Thanks Pat, you are a great guy.
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Re: pcl for android

andrewk
Hi -- I'm trying to follow these instructions but cmake is a bit of a mystery to me.

$ git clone git://github.com/patmarion/pcl-superbuild.git pcl-superbuild
$ cd pcl-superbuild/ && mkdir -p build && cd build && cmake -DBUILD_IOS_DEVICE:BOOL="OFF" ../
$ export ANDROID_NDK=/my/path/to/android-ndk-r8

ok so far, but

$ cmake -DBUILD_examples:BOOL="OFF" ../../pcl-superbuild/build/CMakeExternals/Build/pcl-android/

gives an error, because there's no CMakeLists.txt in ../../pcl-superbuild/build/CMakeExternals/Build/pcl-android/
(there's just one file, toolchain-android.cmake)

Can you help me?

[Also, do I still need to edit CMakeLists.txt as described by Pat Marion, to remove BUILD_examples, because I can't see BUILD_examples ... and WHICH CMakeLists.txt should I be editing?]

thanks very much

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Re: pcl for android

Pat Marion
I just modified the file  "pcl-superbuild/external-project-macros.cmake" so that it automatically sets BUILD_examples when it configures pcl.  I pushed this change to github, so from now on this issue can be avoided.  I also updated the toolchains files to support Android  NDK v8b and iOS 6.0  (although older Xcode project files may need to be updated for Xcode 4.5 by setting the xcode variable VALID_ARCHS to armv7 and removing armv7s).


https://github.com/patmarion/pcl-superbuild/commit/0a91d65ac58bea15c553268bc2826ddc6d3de1f8


If you want to fix your existing build, you should turn off the BUILD_examples variables in the pcl-android build directory, which is located at "build/CMakeExternals/Build/pcl-android"  But, this directory is only populated after the build has been run for the first time (pcl is checked out, configured, and compiled at build time).

Pat



On Fri, Oct 5, 2012 at 4:37 AM, andrewk <[hidden email]> wrote:
Hi -- I'm trying to follow these instructions but cmake is a bit of a mystery
to me.

$ git clone git://github.com/patmarion/pcl-superbuild.git pcl-superbuild
$ cd pcl-superbuild/ && mkdir -p build && cd build && cmake
-DBUILD_IOS_DEVICE:BOOL="OFF" ../
$ export ANDROID_NDK=/my/path/to/android-ndk-r8

ok so far, but

$ cmake -DBUILD_examples:BOOL="OFF"
../../pcl-superbuild/build/CMakeExternals/Build/pcl-android/

gives an error, because there's no CMakeLists.txt in
../../pcl-superbuild/build/CMakeExternals/Build/pcl-android/
(there's just one file, toolchain-android.cmake)

Can you help me?

[Also, do I still need to edit CMakeLists.txt as described by Pat Marion, to
remove BUILD_examples, because I can't see BUILD_examples ... and WHICH
CMakeLists.txt should I be editing?]

thanks very much





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Re: pcl for android

andrewk
Thanks Pat -- now I can build everything for Android.

I've updated the pcl wiki page on building for android to point to your superbuild, as it seems several people have been stuck there trying to follow those instructions.
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Re: pcl for android

Artem
How can I use the lib after compiling it?
Does somebody have a small exampleproject or a howto? This whould be nice.

Best regards.
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Re: pcl for android

Pat Marion
Have you compiled the KiwiViewer project for Android?  See the README in VES/Apps/Android.  The KiwiViewer android project is in VES/Apps/Android/Kiwi.  You might need to edit configure_ant.sh to adjust the android target for whichever SDK you have installed.  This project is an example of how to use c++ code in an android app using jni.  You can very easily modify this project's CMakeLists.txt to do a find_package(PCL) and start using pcl.  There is a similar example in the PCL source code under mobile_apps/android/PointCloudStreaming.  The example under mobile_apps/android/PCLAndroidSample is older and not designed to work against this pcl superbuild, but might be worth reading.

Pat

On Fri, Oct 19, 2012 at 7:48 AM, Artem <[hidden email]> wrote:
How can I use the lib after compiling it?
Does somebody have a small exampleproject or a howto? This whould be nice.

Best regards.



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Re: pcl for android

Artem
Thank you very much:), but I can't fix my problem.

I added the PCL-path for cmake, and added the following lines:
find_package(PCL REQUIRED common io)
include_directories(${PCL_INCLUDE_DIRS})
... (some more include dirs)

Than the following error comes:
-- Could NOT find eigen (missing:  EIGEN_INCLUDE_DIRS)

Than I added the path for it:
set(EIGEN_INCLUDE_DIRS
  /home/artem/pcl-superbuild/build/CMakeExternals/Source/eigen
)

Than the following error comes:
-- Could NOT find Boost

Adding this, the next lib is missing and so on.

What do I wrong?
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Re: pcl for android

andrewk
In reply to this post by andrewk
Hi I'm trying to go through this again as I no longer have the solution I built before.

build fails with a linker error, "cannot find -lpthread"

I've used several of the 32 bit r8? ndks, with same results.

any hints appreciated - thanks

Linking CXX executable ../../bin/pcl_pcd_convert_NaN_nan
..../toolchains/arm-linux-androideabi-4.4.3/prebuilt/linux-x86/bin/../lib/gcc/arm-linux-androideabi/4.4.3/../../../../arm-linux-androideabi/bin/ld: cannot find -lpthread
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Re: pcl for android

Radu B. Rusu
Administrator
Andrew,

Can you check where that is coming from? Alternatively, we might have you not compile the command line tools (as they
are useless on Android anyway).

Cheers,
Radu.
--
http://openperception.org

On 06/07/2013 08:41 AM, andrewk wrote:

> Hi I'm trying to go through this again as I no longer have the solution I
> built before.
>
> build fails with a linker error, "cannot find -lpthread"
>
> I've used several of the 32 bit r8? ndks, with same results.
>
> any hints appreciated - thanks
>
> Linking CXX executable ../../bin/pcl_pcd_convert_NaN_nan
> ..../toolchains/arm-linux-androideabi-4.4.3/prebuilt/linux-x86/bin/../lib/gcc/arm-linux-androideabi/4.4.3/../../../../arm-linux-androideabi/bin/ld:
> cannot find -lpthread
>
>
>
>
> --
> View this message in context: http://www.pcl-users.org/pcl-for-android-tp4022486p4028152.html
> Sent from the Point Cloud Library (PCL) Users mailing list mailing list archive at Nabble.com.
> _______________________________________________
> [hidden email] / http://pointclouds.org
> http://pointclouds.org/mailman/listinfo/pcl-users
>
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Re: pcl for android

Pat Marion
Hi Andrew,

A pthread issue was discussed in a recent thread and found to be related to a specific version of cmake installed from apt-get.  Is that what you are using, by chance?

Please see this thread, specifically the last reply by me:

http://www.pcl-developers.org/missing-lpthread-error-when-building-PCL-for-Android-td5707900.html

Pat


On Fri, Jun 7, 2013 at 11:42 AM, Radu B. Rusu <[hidden email]> wrote:
Andrew,

Can you check where that is coming from? Alternatively, we might have you not compile the command line tools (as they are useless on Android anyway).


Cheers,
Radu.
--
http://openperception.org

On 06/07/2013 08:41 AM, andrewk wrote:
Hi I'm trying to go through this again as I no longer have the solution I
built before.

build fails with a linker error, "cannot find -lpthread"

I've used several of the 32 bit r8? ndks, with same results.

any hints appreciated - thanks

Linking CXX executable ../../bin/pcl_pcd_convert_NaN_nan
..../toolchains/arm-linux-androideabi-4.4.3/prebuilt/linux-x86/bin/../lib/gcc/arm-linux-androideabi/4.4.3/../../../../arm-linux-androideabi/bin/ld:
cannot find -lpthread




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Re: pcl for android

andrewk
Hi Pat - I should have googled first.

Yes, I had cmake 2.8.7. Tried again with 2.8.10.2 and ndk-r8b and now it appears to have compiled successfully ... thanks again.
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Re: pcl for android

picci
Hello,
I'm having some strange issue compiling pcl-superbuild.
I've compiled VES before, but compiling seems that CMAKE_CXX_COMPILER
and CMAKE_CXX_COMPILER_ENV_VAR are missing in my CMakeCache.txt due to:
CMake Error: Could not find cmake module
file:/home/piccir/pcl-superbuild/build/CMakeExternals/Build/flann-android/CMakeFiles/CMakeCCompiler.cmake

CMake Error: Could not find cmake module
file:/home/piccir/pcl-superbuild/build/CMakeExternals/Build/flann-android/CMakeFiles/CMakeCXXCompiler.cmake



On 06/10/2013 10:02 AM, andrewk wrote:

> Hi Pat - I should have googled first.
>
> Yes, I had cmake 2.8.7. Tried again with 2.8.10.2 and ndk-r8b and now it
> appears to have compiled successfully ... thanks again.
>
>
>
>
> --
> View this message in context: http://www.pcl-users.org/pcl-for-android-tp4022486p4028183.html
> Sent from the Point Cloud Library (PCL) Users mailing list mailing list archive at Nabble.com.
> _______________________________________________
> [hidden email] / http://pointclouds.org
> http://pointclouds.org/mailman/listinfo/pcl-users

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