Tmp3/pibot_ros/third_party/libfreenect2/platform/android

Build libfreenect2 for Android

1. Requirements

• A latest release of Android NDK.
• A rooted Android device with USB3.0 host.

2. Build libusb

• See the official documentation for instructions to build libusb for Android.
• Due to certain modifications, libusb can no longer be used directly on Android. Grab a latest available release instead.
• The arm64-v8a build of libusb segfaults, use an armeabi-v7a build instead if you are running Android on arm64.

3. Build libturbojpeg

• See the official documentation for instructions to build libturbojpeg for Android.
• May encounter problems when using the master branch of libturbojpeg with libfreenect2. However, 2.0.1 release and older versions work well.

4. Build libfreenect2

• Grab libfreenect2 and change into Android build directory.

git clone https://github.com/OpenKinect/libfreenect2.git
cd libfreenect2/platform/android/jni

• Build libfreenect2 with Android NDK.

/path/to/ndk-build \
  LIBUSB_ROOT=/path/to/libusb/root \
  LIBUSB_SHARED_REL=relative/path/to/libusb1.0.so \
  LIBTURBOJPEG_ROOT=/path/to/libturbojpeg \
  LIBTURBOJPEG_SHARED_REL=relative/path/to/libturbojpeg.so

• You will find the built binaries in platform/android/libs.

5. Notes

• Now we can only use CPU for depth packet processing. OpenGL ES on Android should work, but it's not yet supported.