title: How to extract ORB_SLAM features to port and work on Android?
body: <p>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</p>
  
  <ol>
  <li>Camera frame is captured using Android classes.</li>
  <li>Java context: Frame is stored inside a Render Script Allocation, which is set as current input allocation.</li>
  <li>Render Script context: Frame is converted from YUV to RGB color space</li>
  <li>Java context: Current output allocation is set to current input allocation</li>
  <li>Render Script context: Frame is re sized and converted to gray</li>
  <li>Here start ORB features extraction;Java context: Current output allocation is set to current input allocation</li>
  <li>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:</li>
  </ol>
  
  <p>void ORBextractor::operator()
  ComputePyramid(image, mask)</p>
  
  <ul>
  <li>cv::resize          </li>
  <li>cv::copyMakeBorder-     /opencv/modules/ocl/src/imgproc.cpp
                           /opencv/modules/ocl/src/opencl/imgproc_copymakeborder.cl
  ComputePyramid is called and calculate all scale levels.</li>
  </ul>
  
  <p>Any help from where I can start or look for some exaples?</p>