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| @@ -1,9 +1,9 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <classpath> | ||
| <classpathentry kind="src" path="src"/> | ||
| <classpathentry kind="src" path="gen"/> | ||
| <classpathentry kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/> | ||
| <classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.LIBRARIES"/> | ||
| <classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.DEPENDENCIES"/> | ||
| <classpathentry kind="src" path="src"/> | ||
| <classpathentry kind="src" path="gen"/> | ||
| <classpathentry kind="output" path="bin/classes"/> | ||
| </classpath> |
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| <?xml version="1.0" encoding="UTF-8" standalone="no"?> | ||
| <?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage"> | ||
| <storageModule moduleId="org.eclipse.cdt.core.settings"> | ||
| <cconfiguration id="com.android.toolchain.gcc.678125027"> | ||
| <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="com.android.toolchain.gcc.678125027" moduleId="org.eclipse.cdt.core.settings" name="Default"> | ||
| <externalSettings/> | ||
| <extensions> | ||
| <extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/> | ||
| <extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> | ||
| <extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> | ||
| <extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> | ||
| <extension id="org.eclipse.cdt.core.MakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> | ||
| <extension id="org.eclipse.cdt.core.VCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> | ||
| <extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/> | ||
| <extension id="org.eclipse.cdt.autotools.core.ErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> | ||
| <extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> | ||
| </extensions> | ||
| </storageModule> | ||
| <storageModule moduleId="cdtBuildSystem" version="4.0.0"> | ||
| <configuration artifactName="${ProjName}" buildProperties="" description="" id="com.android.toolchain.gcc.678125027" name="Default" parent="org.eclipse.cdt.build.core.emptycfg"> | ||
| <folderInfo id="com.android.toolchain.gcc.678125027.1770531638" name="/" resourcePath=""> | ||
| <toolChain id="com.android.toolchain.gcc.635154680" name="Android GCC" superClass="com.android.toolchain.gcc"> | ||
| <targetPlatform binaryParser="org.eclipse.cdt.core.ELF" id="com.android.targetPlatform.132446173" isAbstract="false" superClass="com.android.targetPlatform"/> | ||
| <builder id="com.android.builder.157280964" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Android Builder" superClass="com.android.builder"> | ||
| <outputEntries> | ||
| <entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="outputPath" name="obj"/> | ||
| <entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="outputPath" name="libs"/> | ||
| </outputEntries> | ||
| </builder> | ||
| <tool id="com.android.gcc.compiler.170470533" name="Android GCC Compiler" superClass="com.android.gcc.compiler"> | ||
| <inputType id="com.android.gcc.inputType.962795971" superClass="com.android.gcc.inputType"/> | ||
| </tool> | ||
| </toolChain> | ||
| </folderInfo> | ||
| <sourceEntries> | ||
| <entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="jni"/> | ||
| </sourceEntries> | ||
| </configuration> | ||
| </storageModule> | ||
| <storageModule moduleId="org.eclipse.cdt.core.externalSettings"/> | ||
| </cconfiguration> | ||
| </storageModule> | ||
| <storageModule moduleId="cdtBuildSystem" version="4.0.0"> | ||
| <project id="ORB_SLAM2_Android.null.1944920017" name="ORB_SLAM2_Android"/> | ||
| </storageModule> | ||
| <storageModule moduleId="org.eclipse.cdt.core.pathentry"/> | ||
| <storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/> | ||
| <storageModule moduleId="scannerConfiguration"> | ||
| <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/> | ||
| <scannerConfigBuildInfo instanceId="com.android.toolchain.gcc.678125027;com.android.toolchain.gcc.678125027.1770531638;com.android.gcc.compiler.170470533;com.android.gcc.inputType.962795971"> | ||
| <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="com.android.AndroidPerProjectProfile"/> | ||
| </scannerConfigBuildInfo> | ||
| </storageModule> | ||
| </cproject> |
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| LOCAL_PATH:= $(call my-dir) | ||
|
|
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| #include $(CLEAR_VARS) | ||
| #OPENCV_LIB_TYPE:=STATIC | ||
| #ifeq ("$(wildcard $(OPENCV_MK_PATH))","") | ||
| ##try to load OpenCV.mk from default install location | ||
| #include C:\Users\213\workspace\OpenCV-2.4.9-android-sdk\sdk\native\jni\OpenCV.mk | ||
| #else | ||
| #include $(OPENCV_MK_PATH) | ||
| #endif | ||
| #LOCAL_MODULE := ImgFun | ||
| #LOCAL_SRC_FILES := ImgFun.cpp | ||
| #include $(BUILD_SHARED_LIBRARY) | ||
|
|
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| #include $(CLEAR_VARS) | ||
| #LOCAL_MODULE:= testlapack | ||
| #LOCAL_SRC_FILES:= testclapack.cpp | ||
| #LOCAL_STATIC_LIBRARIES := lapack | ||
| #include $(BUILD_SHARED_LIBRARY) | ||
|
|
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| #include $(CLEAR_VARS) | ||
| #MAIN_DIR:=$(LOCAL_PATH) | ||
| #include $(LOCAL_PATH)/Thirdparty/g2o/Android.mk | ||
| #LOCAL_PATH:=$(MAIN_DIR) | ||
| # | ||
| #include $(CLEAR_VARS) | ||
| #MAIN_DIR:=$(LOCAL_PATH) | ||
| #include $(LOCAL_PATH)/Thirdparty/opencv/Android.mk | ||
| #LOCAL_PATH:=$(MAIN_DIR) | ||
| # | ||
| #include $(CLEAR_VARS) | ||
| # | ||
| #include $(LOCAL_PATH)/Thirdparty/DBoW2/Android.mk | ||
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| include $(CLEAR_VARS) | ||
|
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| #OPENCV_LIB_TYPE:=STATIC | ||
| #ifeq ("$(wildcard $(OPENCV_MK_PATH))","") | ||
| #include $(LOCAL_PATH)/Thirdparty/opencv/OpenCV.mk | ||
| #else | ||
| #include $(OPENCV_MK_PATH) | ||
| #endif | ||
| LOCAL_SRC_FILES:=test.cpp | ||
| LOCAL_MODULE := opencv | ||
| include $(BUILD_SHARED_LIBRARY) | ||
|
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| include $(CLEAR_VARS) | ||
| include $(LOCAL_PATH)/Thirdparty/DBoW2/Android.mk | ||
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| include $(CLEAR_VARS) | ||
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| LOCAL_MODULE:=ORB_SLAM2 | ||
| #LOCAL_SHARED_LIBRARIES :=g2o | ||
| #LOCAL_SHARED_LIBRARIES +=DBoW2 | ||
|
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| #LOCAL_LDLIBS := -lGLESv1_CM -lGLESv2 -llog | ||
|
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| include $(BUILD_SHARED_LIBRARY) |
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| APP_STL := gnustl_static | ||
| APP_CPPFLAGS := -frtti -fexceptions -mfloat-abi=softfp -mfpu=neon -std=gnu++0x -Wno-deprecated \ | ||
| -ftree-vectorize -ffast-math -fsingle-precision-constant | ||
| APP_ABI := armeabi armeabi-v7a | ||
| APP_OPTIM := release | ||
| APP_SHORT_COMMANDS := true | ||
|
|
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| /** | ||
| * This file is part of ORB-SLAM2. | ||
| * | ||
| * Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza) | ||
| * For more information see <https://github.com/raulmur/ORB_SLAM2> | ||
| * | ||
| * ORB-SLAM2 is free software: you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation, either version 3 of the License, or | ||
| * (at your option) any later version. | ||
| * | ||
| * ORB-SLAM2 is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>. | ||
| */ | ||
|
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| #ifndef CONVERTER_H | ||
| #define CONVERTER_H | ||
|
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| #include<opencv2/core/core.hpp> | ||
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| #include<Eigen/Dense> | ||
| #include"Thirdparty/g2o/g2o/types/types_six_dof_expmap.h" | ||
| #include"Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h" | ||
|
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| namespace ORB_SLAM2 | ||
| { | ||
|
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| class Converter | ||
| { | ||
| public: | ||
| static std::vector<cv::Mat> toDescriptorVector(const cv::Mat &Descriptors); | ||
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| static g2o::SE3Quat toSE3Quat(const cv::Mat &cvT); | ||
| static g2o::SE3Quat toSE3Quat(const g2o::Sim3 &gSim3); | ||
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| static cv::Mat toCvMat(const g2o::SE3Quat &SE3); | ||
| static cv::Mat toCvMat(const g2o::Sim3 &Sim3); | ||
| static cv::Mat toCvMat(const Eigen::Matrix<double,4,4> &m); | ||
| static cv::Mat toCvMat(const Eigen::Matrix3d &m); | ||
| static cv::Mat toCvMat(const Eigen::Matrix<double,3,1> &m); | ||
| static cv::Mat toCvSE3(const Eigen::Matrix<double,3,3> &R, const Eigen::Matrix<double,3,1> &t); | ||
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| static Eigen::Matrix<double,3,1> toVector3d(const cv::Mat &cvVector); | ||
| static Eigen::Matrix<double,3,1> toVector3d(const cv::Point3f &cvPoint); | ||
| static Eigen::Matrix<double,3,3> toMatrix3d(const cv::Mat &cvMat3); | ||
|
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| static std::vector<float> toQuaternion(const cv::Mat &M); | ||
| }; | ||
|
|
||
| }// namespace ORB_SLAM | ||
|
|
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| #endif // CONVERTER_H |
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