[ros-users] Calonder descriptor: exporting sse in manifest.xml

Brian Gerkey gerkey at willowgarage.com
Wed May 12 15:14:35 UTC 2010

On Wed, May 12, 2010 at 12:54 AM, Markus Achtelik
<markus.achtelik at mavt.ethz.ch> wrote:
> I was trying to compile own code using the calonder descriptors. I got
> an error when compiling basic_math.h saying that sse is not enabled.
> Adding "-msse3" to the compile flags in my CMakelists.txt or exporting
> it in the calonder_descriptor's manifest.xml solved the problem. Would
> it make sense to export sse by default in the manifest.xml?

hi Markus,

Looking at features_2d, which depends on calonder_descriptor, I see
this in its CMakeLists.txt:
  # TODO Shouldn't require SSE, but needed to compile against
  add_definitions(-Wall -O3 -mfpmath=sse -mmmx -msse3)
In the stereo_utils package, which also depends on
calonder_descriptor, something similar is done, on a target-by-target
basis, e.g.:
  rosbuild_add_compile_flags(stereo_utils_lowlevel_py -g
-Wno-missing-field-initializers -msse3)
So our code is already working around the fact that
calonder_descriptor requires, but does not export SSE flags.

Is it possible to restructure libcalonder so that users of the library
don't need to know about its SSE usage?

If not, can someone suggest which flags should be hardcoded into
calonder_descriptor's manifest (e.g., "-mfpmath=sse -mmmx -msse3" vs.
just "-msse3")?


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