FAST corner detector by Edward Rosten
License: GNU Lesser General Public License v2.1
FAST corner detector by Edward Rosten. The sourcefiles are from the CVD library: http://www.edwardrosten.com/cvd/
Hi, I was looking at the source code, but cannot see where fast_corner_detect_9_neon is defined?
An INCLUDE_DIRECTORIES(${OpenCV_INCLUDE_DIRS}) is needed after https://github.com/uzh-rpg/fast/blob/master/CMakeLists.txt#L48.
Is there a particular version of opencv that is recommended?
This used to work fine with opencv 3.1.0 but an upgrade to opencv 3.4 causes weird bus error.
Turns out that I needed to use fast for one of the other ROS packages that I am trying to use. When I do a catkin_make I get an error that
This workspace contains non-catkin packages in it, and catkin cannot build
a non-homogeneous workspace without isolation. Try the
'catkin_make_isolated' command instead
If I look at the error log and output log it is pointing back to the fast package (i am using the catkin branch). It further recommended that i use catkin_make_isolated so I tried that but then I get the following errors (Note this is only the last bunch of lines before the errors for fast:
==> Processing catkin package: 'eigen_catkin'
==> Creating build directory: 'build_isolated/eigen_catkin'
==> Building with env: '/home/ubuntu/catkin_ws/devel_isolated/dji_sdk_web_groundstation/env.sh'
==> cmake /home/ubuntu/catkin_ws/src/eigen_catkin -DCATKIN_DEVEL_PREFIX=/home/ubuntu/catkin_ws/devel_isolated/eigen_catkin -DCMAKE_INSTALL_PREFIX=/home/ubuntu/catkin_ws/install_isolated -G Unix Makefiles in '/home/ubuntu/catkin_ws/build_isolated/eigen_catkin'
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/ubuntu/catkin_ws/devel_isolated/eigen_catkin
-- Using CMAKE_PREFIX_PATH: /home/ubuntu/catkin_ws/devel_isolated/dji_sdk_web_groundstation;/home/ubuntu/catkin_ws/devel_isolated/dji_sdk_dji2mav;/home/ubuntu/catkin_ws/devel_isolated/dji_sdk_demo;/home/ubuntu/catkin_ws/devel_isolated/dji_sdk;/home/ubuntu/catkin_ws/devel_isolated/dji_sdk_lib;/home/ubuntu/catkin_ws/devel_isolated/controller_msgs;/home/ubuntu/catkin_ws/devel_isolated/cmake_utils;/home/ubuntu/catkin_ws/devel_isolated/catkin_simple;/opt/ros/melodic
-- This workspace overlays: /home/ubuntu/catkin_ws/devel_isolated/dji_sdk_web_groundstation;/home/ubuntu/catkin_ws/devel_isolated/dji_sdk_dji2mav;/home/ubuntu/catkin_ws/devel_isolated/dji_sdk_demo;/home/ubuntu/catkin_ws/devel_isolated/dji_sdk;/home/ubuntu/catkin_ws/devel_isolated/dji_sdk_lib;/home/ubuntu/catkin_ws/devel_isolated/controller_msgs;/home/ubuntu/catkin_ws/devel_isolated/cmake_utils;/home/ubuntu/catkin_ws/devel_isolated/catkin_simple;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/ubuntu/catkin_ws/build_isolated/eigen_catkin/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17")
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.28
-- BUILD_SHARED_LIBS is on
-- Suitable Eigen version found. Minimum version: 3.3.4 Found version: 3.3.4
-- eigen_catkin is configured to USE system eigen
-- Found and using system Eigen in /usr/include/eigen3
-- Configuring done
-- Generating done
-- Build files have been written to: /home/ubuntu/catkin_ws/build_isolated/eigen_catkin
==> make -j4 -l4 in '/home/ubuntu/catkin_ws/build_isolated/eigen_catkin'
<== Finished processing package [9 of 51]: 'eigen_catkin'
==> Processing catkin package: 'fast'
==> Creating build directory: 'build_isolated/fast'
==> Building with env: '/home/ubuntu/catkin_ws/devel_isolated/eigen_catkin/env.sh'
==> cmake /home/ubuntu/catkin_ws/src/fast-catkin -DCATKIN_DEVEL_PREFIX=/home/ubuntu/catkin_ws/devel_isolated/fast -DCMAKE_INSTALL_PREFIX=/home/ubuntu/catkin_ws/install_isolated -G Unix Makefiles in '/home/ubuntu/catkin_ws/build_isolated/fast'
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/ubuntu/catkin_ws/devel_isolated/fast
-- Using CMAKE_PREFIX_PATH: /home/ubuntu/catkin_ws/devel_isolated/eigen_catkin;/home/ubuntu/catkin_ws/devel_isolated/dji_sdk_web_groundstation;/home/ubuntu/catkin_ws/devel_isolated/dji_sdk_dji2mav;/home/ubuntu/catkin_ws/devel_isolated/dji_sdk_demo;/home/ubuntu/catkin_ws/devel_isolated/dji_sdk;/home/ubuntu/catkin_ws/devel_isolated/dji_sdk_lib;/home/ubuntu/catkin_ws/devel_isolated/controller_msgs;/home/ubuntu/catkin_ws/devel_isolated/cmake_utils;/home/ubuntu/catkin_ws/devel_isolated/catkin_simple;/opt/ros/melodic
-- This workspace overlays: /home/ubuntu/catkin_ws/devel_isolated/eigen_catkin;/home/ubuntu/catkin_ws/devel_isolated/dji_sdk_web_groundstation;/home/ubuntu/catkin_ws/devel_isolated/dji_sdk_dji2mav;/home/ubuntu/catkin_ws/devel_isolated/dji_sdk_demo;/home/ubuntu/catkin_ws/devel_isolated/dji_sdk;/home/ubuntu/catkin_ws/devel_isolated/dji_sdk_lib;/home/ubuntu/catkin_ws/devel_isolated/controller_msgs;/home/ubuntu/catkin_ws/devel_isolated/cmake_utils;/home/ubuntu/catkin_ws/devel_isolated/catkin_simple;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/ubuntu/catkin_ws/build_isolated/fast/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17")
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.28
-- BUILD_SHARED_LIBS is on
-- Configuring done
-- Generating done
-- Build files have been written to: /home/ubuntu/catkin_ws/build_isolated/fast
==> make -j4 -l4 in '/home/ubuntu/catkin_ws/build_isolated/fast'
Scanning dependencies of target fast
[ 60%] Building CXX object CMakeFiles/fast.dir/src/fast_10_score.cpp.o
[ 60%] Building CXX object CMakeFiles/fast.dir/src/faster_corner_10_sse.cpp.o
[ 60%] Building CXX object CMakeFiles/fast.dir/src/fast_10.cpp.o
[ 80%] Building CXX object CMakeFiles/fast.dir/src/nonmax_3x3.cpp.o
c++: error: unrecognized command line option ‘-mmmx’
c++: error: unrecognized command line option ‘-msse’; did you mean ‘-fdse’?
c++: error: unrecognized command line option ‘-msse’; did you mean ‘-fdse’?
c++: error: unrecognized command line option ‘-msse2’
c++: error: unrecognized command line option ‘-msse3’
c++: error: unrecognized command line option ‘-mmmx’
c++: error: unrecognized command line option ‘-mmmx’
c++: error: unrecognized command line option ‘-msse’; did you mean ‘-fdse’?
c++: error: unrecognized command line option ‘-msse’; did you mean ‘-fdse’?
c++: error: unrecognized command line option ‘-mssse3’
c++: error: unrecognized command line option ‘-msse’; did you mean ‘-fdse’?
c++: error: unrecognized command line option ‘-msse’; did you mean ‘-fdse’?
c++: error: unrecognized command line option ‘-msse2’
c++: error: unrecognized command line option ‘-msse2’
c++: error: unrecognized command line option ‘-msse3’
c++: error: unrecognized command line option ‘-mssse3’
CMakeFiles/fast.dir/build.make:134: recipe for target 'CMakeFiles/fast.dir/src/faster_corner_10_sse.cpp.o' failed
make[2]: *** [CMakeFiles/fast.dir/src/faster_corner_10_sse.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
c++: error: unrecognized command line option ‘-msse3’
c++: error: unrecognized command line option ‘-mssse3’
CMakeFiles/fast.dir/build.make:86: recipe for target 'CMakeFiles/fast.dir/src/fast_10_score.cpp.o' failed
make[2]: *** [CMakeFiles/fast.dir/src/fast_10_score.cpp.o] Error 1
CMakeFiles/fast.dir/build.make:62: recipe for target 'CMakeFiles/fast.dir/src/fast_10.cpp.o' failed
make[2]: *** [CMakeFiles/fast.dir/src/fast_10.cpp.o] Error 1
c++: error: unrecognized command line option ‘-mmmx’
c++: error: unrecognized command line option ‘-msse’; did you mean ‘-fdse’?
c++: error: unrecognized command line option ‘-msse’; did you mean ‘-fdse’?
c++: error: unrecognized command line option ‘-msse2’
c++: error: unrecognized command line option ‘-msse3’
c++: error: unrecognized command line option ‘-mssse3’
CMakeFiles/fast.dir/build.make:110: recipe for target 'CMakeFiles/fast.dir/src/nonmax_3x3.cpp.o' failed
make[2]: *** [CMakeFiles/fast.dir/src/nonmax_3x3.cpp.o] Error 1
CMakeFiles/Makefile2:131: recipe for target 'CMakeFiles/fast.dir/all' failed
make[1]: *** [CMakeFiles/fast.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
<== Failed to process package 'fast':
Command '['/home/ubuntu/catkin_ws/devel_isolated/eigen_catkin/env.sh', 'make', '-j4', '-l4']' returned non-zero exit status 2
Reproduce this error by running:
==> cd /home/ubuntu/catkin_ws/build_isolated/fast && /home/ubuntu/catkin_ws/devel_isolated/eigen_catkin/env.sh make -j4 -l4
Command failed, exiting.
Looking at something in another message tried modifying the cmake for fast but no luck (probably because have no idea what I am doing with cmake files ). The pi4 is a uad core Cortex-A72 (ARM v8) 64-bit SoC @ 1.5GHz i think
Any help would be appreciated.
EDIT: Think this is related to issue 7 that i just noticed.
I tried editing the the make file againso it just reads:
#IF(DEFINED ENV{ARM_ARCHITECTURE})
SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3")
#ELSE()
# SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -mmmx -msse -msse -msse2 -msse3 -mssse3 -fomit-frame-pointer")
#ENDIF()
but the file fater_corner_10_sse throws all kinds of errors on check barrier and says it requires SSE2 support.
In file:src/faster_corner_10_sse.cpp
home/sam/lib/fast/src/faster_corner_10_sse.cpp: In function ‘void fast::faster_corner_detect_10(const fast_byte*, int, int, int, short int, std::vectorfast::fast_xy&)’:
/home/sam/lib/fast/src/faster_corner_10_sse.cpp:22:30: error: ISO C++17 does not allow ‘register’ storage class specifier [-Werror=register]
22 | register const __m128i barriers = _mm_set1_epi8((fast_byte)barrier);
| ^~~~~~~~
/home/sam/lib/fast/src/faster_corner_10_sse.cpp: In instantiation of ‘void fast::faster_corner_detect_10(const fast_byte*, int, int, int, short int, std::vectorfast::fast_xy&) [with bool Aligned = true; fast::fast_byte = unsigned char]’:
/home/sam/lib/fast/src/faster_corner_10_sse.cpp:199:40: required from here
/home/sam/lib/fast/src/faster_corner_10_sse.cpp:22:30: error: ISO C++17 does not allow ‘register’ storage class specifier [-Werror=register]
/home/sam/lib/fast/src/faster_corner_10_sse.cpp: In instantiation of ‘void fast::faster_corner_detect_10(const fast_byte*, int, int, int, short int, std::vectorfast::fast_xy&) [with bool Aligned = false; fast::fast_byte = unsigned char]’:
/home/sam/lib/fast/src/faster_corner_10_sse.cpp:201:41: required from here
/home/sam/lib/fast/src/faster_corner_10_sse.cpp:22:30: error: ISO C++17 does not allow ‘register’ storage class specifier [-Werror=register]
Fixed by inserting:
// C++17 removed the register keyword, so we define it to nothing so that
// it doesn't cause errors.
#if __cplusplus >= 201703L
#define register
#endif
I am trying to build on a Aarch64 architecture:
git clone https://github.com/uzh-rpg/fast.git
cd fast
mkdir build
cd build
cmake ..
make
I get the following error on make:
c++: error: unrecognized command line option ‘-mmmx’
c++: error: unrecognized command line option ‘-msse’; did you mean ‘-fdse’?
c++: error: unrecognized command line option ‘-msse’; did you mean ‘-fdse’?
c++: error: unrecognized command line option ‘-msse2’
c++: error: unrecognized command line option ‘-msse3’
c++: error: unrecognized command line option ‘-mssse3’
Clang does not recognize -Wno-unused-but-set-variable and thus fails to compile.
error: unknown warning option '-Wno-unused-but-set-variable'; did you mean '-Wno-unused-const-variable'? [-Werror,-Wunknown-warning-option]
I fixed it by removing -Wno-unused-but-set-variable in CMakeLists.txt. This isn't a great fix because its bad mojo to remove useful warnings. It might be appropriate to add the compiler flag based on which type of compiler.
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