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fast's Issues

opencv version requirement

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.

Compile Errors on RPI4 under Ubuntu 18.04

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.

Compile error on Ubuntu 22.04

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

Make error on aarch64

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’

Fast fails to build on OSX

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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