Assembler messages

[dowheeler]

After following the installation directions exactly, the below error occurs when running 'catkin_make' to build the vikit and svo packages. The 'IS_ARM' flag is not set. I'm running Ubuntu 12.04 on a x86_64 machine (i7).

Any ideas?

...
rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/pinhole_camera.cpp.o
[ 42%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/homography.cpp.o
[ 44%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/img_align.cpp.o
/tmp/ccXXH67w.s: Assembler messages:
/tmp/ccXXH67w.s:481: Error: no such instruction: vfmadd312ss .LC0(%rip),%xmm0,%xmm0' make[2]: *** [rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/robust_cost.cpp.o] Error 1 make[2]: *** Waiting for unfinished jobs.... /tmp/ccTKsebv.s: Assembler messages: /tmp/ccTKsebv.s:367: Error: no such instruction:vfmadd312sd 8(%rsi),%xmm5,%xmm1'
/tmp/ccTKsebv.s:369: Error: no such instruction: vfmadd312sd 16(%rsi),%xmm5,%xmm2' /tmp/ccTKsebv.s:370: Error: no such instruction:vfmadd312sd (%rsi),%xmm5,%xmm0'
...
/tmp/cc4xDiOp.s:21241: Error: no such instruction: vfmadd312sd (%rax,%r15,8),%xmm1,%xmm7' /tmp/cc4xDiOp.s:21244: Error: no such instruction:vfmadd312sd (%rax,%rsi,8),%xmm1,%xmm8'
make[2]: *** [rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/homography.cpp.o] Error 1
make[1]: *** [rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed

[cfo]

Hi,
can you tell me your exact GCC and processor version (e.g., IvyBridge, Haswell)?
can you try to remove "-march=native" from the CFLAGS in the CMakeFiles?
best,
christian

[vgrabe]

I agree with Christian, the reason is most likely that a very recent core i7 CPU and an outdated c++ compiler (such as g++ version 4.6 that comes with Ubuntu 12.04.) are used together.
There are several ways to deal with this problem, but the most simple one is to replace all "-march=native" flags in all CMakeLists.txt files with "-march=corei7" since the new CPUs are not correctly identified automatically by the old compiler for the highest level of code optimization that SVO requests.

Other options would be to upgrade manually to g++ 4.8 but that might cause
other issues. Also, you could opt for a lower level of code optimization by replacing the -O3 flag with -O2 in all CMakeList.txt.

Let us know whether this worked for you.

Best,
Volker

[dowheeler]

You're both right.

I'm using gcc (Ubuntu/Linaro 4.6.3-1ubuntu5) 4.6.3 (comes with Ubuntu 12.04) and am using an Intel(R) Core(TM) i7-4770 CPU @ 3.40GHz.

Removing "-march=native" from the three CMakeLists.txt solved it (vikit_common, vikit_ros, svo). Everything builds and runs as expected now.

Thanks for the help and making this open source.

Cheers,
David

[tahmine-iaun]

I just want to thank you because of your good information! actually i faced with the same problem and i benefit from your solution! thank you 👍