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#brics_3d-jni: The C++ part

What is it?

The shared C++ libray called brics_3d-jni (brics_3d-jni.so) that provides the C++ part of the wrapper. It provides functionality for using the Robot Scene Graph (RSG) that is a subset of the BRICS_3D library.

Installation

A precompiled binary can he found here. To retrive the latest version follow the steps below:

Dependencies:

Compilation:

  1. Cross compile the BRICS_3D library and its dependencies with the android-cmake toolchain.

As a preperation all dependencies of the BRICS_3D library need to be satisfied. I.e. all those libraries have to be cross-compiled. The BRICS_3D library has the following dependencies:

  • Eigen
  • Boost
  • HDF5

Cross compilation of Eigen and Boost are already coverd by the android-cmake. cf. http://android-cmake.googlecode.com/hg/documentation.html It is briefly summarized as follows:

   cd <path_to_android-cmake>/common-libs/eigen
   sh ./get_eigen.sh
   cd eigen-android
   mkdir androidbuild
   cd androidbuild/
   cmake -DCMAKE_TOOLCHAIN_FILE=<path_to_android-cmake_file>/android.toolchain.cmake -DARM_TARGET=armeabi .. 
   make
   make install

   cd <path_to_android-cmake>/common-libs/boost
   sh ./get_boost.sh
   mkdir androidbuild
   cd androidbuild/
   cmake -DCMAKE_TOOLCHAIN_FILE=<path_to_android-cmake_file>/android.toolchain.cmake -DARM_TARGET=armeabi .. 
   make
   make install

HDF5 library:

Get a vervion >= 1.8.9 and < 1.8.12. Version 1.8.9 is recommended.

	#uncomment in H5pubconf.h: the line: /* #undef H5_HAVE_GETPWUID */
		
   mkdir androidbuild
   cd androidbuild/
   cmake -DCMAKE_TOOLCHAIN_FILE=<path_to_android-cmake_file>/android.toolchain.cmake -DHDF5_BUILD_CPP_LIB=true -DHDF5_BUILD_HL_LIB=true -DARM_TARGET=armeabi .. 
   make
   
   # Here you have to interrupt and execute the following binaries on the target platform to correctly generate the settings for the library.
   ./H5detect > H5Tinit.c
   ./H5make_libsettings > H5lib_settings.c
   
   # Then comment out the respective Makefile sections for H5detect and H5make_libsettings such that the generated files are not overiden
   # with empty files.
   
   make
   make install

Then cross compile BRICS_3D:

 	export HDF5_ROOT=<path_to_android_ndk>/standalone-toolchain-api5/user/armeabi
	mkdir androidbuild
   cd androidbuild
   cmake -DCMAKE_TOOLCHAIN_FILE=<path_to_android-cmake_file>/android.toolchain.cmake -DARM_TARGET=armeabi -DUSE_HDF5=true ..
   make
   make install
  1. Cross compile this library as well with the android-cmake toolchain:
   export BRICS_3D_DIR=<path_to_android_ndk>/standalone-toolchain-api5/user/armeabi
   mkdir androidbuild
   cd androidbuild
   cmake -DCMAKE_TOOLCHAIN_FILE=<path_to_android-cmake_file>/android.toolchain.cmake -DARM_TARGET=armeabi ..
   make
  1. Copy the libs/armeabi/libbrics_3d-jni.so to your Android project/app.