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stwirth avatar stwirth commented on August 23, 2024

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.

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stwirth avatar stwirth commented on August 23, 2024

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

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TSC21 avatar TSC21 commented on August 23, 2024

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

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TSC21 avatar TSC21 commented on August 23, 2024

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.

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TSC21 avatar TSC21 commented on August 23, 2024

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.

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TSC21 avatar TSC21 commented on August 23, 2024

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.

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stwirth avatar stwirth commented on August 23, 2024

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.

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zardchim avatar zardchim commented on August 23, 2024

@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

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y22ma avatar y22ma commented on August 23, 2024

@zardchim Sweet! What are the steps you took?

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