How to extract ORB_SLAM features to port and work on Android?

asked 2015-11-19 23:48:23 -0500

astronaut gravatar image

Hi

I would like to port the ORB features extraction process to work on Android. Basically I wont ORBextractor.cc file to work inside RenderScript contex. The process is following

  1. Camera frame is captured using Android classes.
  2. Java context: Frame is stored inside a Render Script Allocation, which is set as current input allocation.
  3. Render Script context: Frame is converted from YUV to RGB color space
  4. Java context: Current output allocation is set to current input allocation
  5. Render Script context: Frame is re sized and converted to gray
  6. Here start ORB features extraction;Java context: Current output allocation is set to current input allocation
  7. Render Script context: Here is Example ComputePyramid called and calculate all scale levels 8...

ORBextractor.cc can be presented with a call tree like this:

void ORBextractor::operator()
  • ComputePyramid(image, mask)

       - cv::resize          
       - cv::copyMakeBorder-     /opencv/modules/ocl/src/imgproc.cpp
                                 /opencv/modules/ocl/src/opencl/imgproc_copymakeborder.cl
    

ComputePyramid is called and calculate all scale levels.

Any help from where I can start or look for some exaples?

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