pcl-for-android-ndk

Bash scripts for cross compiling PCL ( https://github.com/PointCloudLibrary/pcl ) and its dependencies for Android.

Install Requirements

$ sudo apt-get install git make cmake

Cross-compilation

$ git clone https://github.com/bashbug/pcl-for-android.git
$ export ANDROID_NDK=PATH_TO_YOUR_LOCAL_ANDROID_NDK_FOLDER
$ ./download-setup.sh
$ ./pcl-build-for-android.sh

Additional Changes before compilation

download-setup.sh will download the required libraries. Before running pcl-build-for-android.sh make the following changes in pcl located under build folder.

a) Update the CMakeLists.txt file of "search" module, so that it looks like this

set(srcs
        src/search.cpp
        src/kdtree.cpp
	../common/src/projection_matrix.cpp
        src/brute_force.cpp
        src/organized.cpp
        src/octree.cpp
        )

b) PCL's MovingLeastSquares algorithm fails on Android (core dumped). To make it work, turn off Eigen Vectorization.

1. Add the following lines in main CMakeLists.txt after find_package(Eigen REQUIRED)

add_definitions(-DEIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT 
                      -DEIGEN_DONT_VECTORIZE) 
add_definitions(-DEIGEN_DONT_ALIGN)

2. Add the following lines in pcl_config.h.in after line 14/15.

#define EIGEN_DONT_VECTORIZE 1 
#define EIGEN_DONT_ALIGN 1 

Android.mk

I have included a sample jni folder including Android.mk & Application.mk. Update the paths accordingly. Tested with Android-Ndk-14b.