Is it possible to compile this in an ARM platform?

[TSC21]

I already tried but it gives me issues on libfovis related to -msse2 and -msse3, which are x86 compatible only. Is there any way of pull a solution to this?

Thanks!

[stwirth]

Don't know, never tried.

I can see a FOVIS_USE_SSE flag here: https://code.google.com/p/fovis/source/browse/libfovis/libfovis/intensity_descriptor.cpp

You can install (our fork of) libfovis from source (https://github.com/srv/libfovis) to play with compiler switches.

[stwirth]

Just saw that the original fork got updated quite a bit, the README does not state SSE2 as a requirement any more.

https://code.google.com/p/fovis/source/browse/libfovis/README

[TSC21]

Thanks mate! I will try to compile libfovis withou that flag and see the result ;)
I will let you know!

[TSC21]

Ok I tried what is suggested in http://code.google.com/p/fovis/source/browse/libfovis/README, but it really doesn't work since it continued to ask for emmintrin.h. So I deleted all the includes of this library on the files that had it and it complied ok.

[TSC21]

Well I opted for using the libfovis repo of ROS and compile it together with fovis with catkin_make. Since the Cmake option didn't work, I also removed all the emmintrin.h references on code. Issuing catkin_makeon my ws I get:

In file included from /home/linaro/AIMAVProject_ws/src/pose_estimation_pkgs/fovis/libfovis/libfovis/motion_estimation.cpp:16:0:
/home/linaro/AIMAVProject_ws/src/pose_estimation_pkgs/fovis/libfovis/libfovis/sad.hpp: In member function 'int32_t fovis::SAD::score(const uint8_t*, const uint8_t*)':
/home/linaro/AIMAVProject_ws/src/pose_estimation_pkgs/fovis/libfovis/libfovis/sad.hpp:45:20: error: 'descriptor_len' was not declared in this scope
/home/linaro/AIMAVProject_ws/src/pose_estimation_pkgs/fovis/libfovis/libfovis/intensity_descriptor.cpp: In member function 'void fovis::IntensityDescriptorExtractor::normalizeDescriptor(uint8_t*) const':
/home/linaro/AIMAVProject_ws/src/pose_estimation_pkgs/fovis/libfovis/libfovis/intensity_descriptor.cpp:121:9: error: '__m128i' was not declared in this scope
/home/linaro/AIMAVProject_ws/src/pose_estimation_pkgs/fovis/libfovis/libfovis/intensity_descriptor.cpp:121:17: error: expected primary-expression before ')' token
/home/linaro/AIMAVProject_ws/src/pose_estimation_pkgs/fovis/libfovis/libfovis/intensity_descriptor.cpp:121:18: error: expected ')' before 'desc'
/home/linaro/AIMAVProject_ws/src/pose_estimation_pkgs/fovis/libfovis/libfovis/intensity_descriptor.cpp:127:9: error: '__m128i' was not declared in this scope
/home/linaro/AIMAVProject_ws/src/pose_estimation_pkgs/fovis/libfovis/libfovis/intensity_descriptor.cpp:127:17: error: expected primary-expression before ')' token
/home/linaro/AIMAVProject_ws/src/pose_estimation_pkgs/fovis/libfovis/libfovis/intensity_descriptor.cpp:127:18: error: expected ')' before 'desc'
[ 42%] Built target px_comm_generate_messages_lisp
[ 45%] Built target px_comm_generate_messages_py
[ 45%] Built target px_comm_gencpp

Gets no declarations of descriptor_len and __m128i. The only thing I did on motion_estimation.cppwas removing the USE_SSE definitions and the IFDEF related.
I think this can be corrected on build time by adding a cmake option to catkin_make but catkin_make -DUSE_SSE=OFF doesn't do nothing.

@miquelmassot @plnegre can you also give an help in here? Thanks!

Note: So I think this issue is not really closed.

[TSC21]

Well no one wants to bother? Seems your platform has it's own issues and you don't want to resolve them. I repeat that catkin_make -DUSE_SSE=OFF option doesn't deactivate the use of sse flags on compile time.

[stwirth]

Although we developed the ROS wrapper for fovis some time ago we are not actively developing it. It fits the purpose for our project. I'm working (and getting payed) on a totally different thing now.
If you figure out how this wrapper can be improved, please do so and open a pull-request.

[zardchim]

@TSC21
Following your route and I am able to compile the code on Jetson Tk1 board.

I have installed ROS on jetson tk1 and am going to test it

[y22ma]

@zardchim Sweet! What are the steps you took?