SVO：快速 - 圆锥检测器 - 安装：普通 CMake（无 ROS）

Question

我正在做一个无人机项目，我的 Raspberry Pi 2 B 有问题。当我尝试安装 Fast - Corner Detector 时，我在屏幕上看到了这个

pi@raspberrypi ~/workspace/fast/build $ make

/usr/bin/cmake -H/home/pi/workspace/fast -B/home/pi/workspace/fast/build --check-build-system CMakeFiles/Makefile.cmake 0
/usr/bin/cmake -E cmake_progress_start /home/pi/workspace/fast/build/CMakeFiles /home/pi/workspace/fast/build/CMakeFiles/progress.marks
make -f CMakeFiles/Makefile2 all
make[1]: Entering directory '/home/pi/workspace/fast/build'
make -f CMakeFiles/fast.dir/build.make CMakeFiles/fast.dir/depend
make[2]: Entering directory '/home/pi/workspace/fast/build'
cd /home/pi/workspace/fast/build && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/pi/workspace/fast /home/pi/workspace/fast /home/pi/workspace/fast/build /home/pi/workspace/fast/build /home/pi/workspace/fast/build/CMakeFiles/fast.dir/DependInfo.cmake --color=
make[2]: Leaving directory '/home/pi/workspace/fast/build'
make -f CMakeFiles/fast.dir/build.make CMakeFiles/fast.dir/build
make[2]: Entering directory '/home/pi/workspace/fast/build'
/usr/bin/cmake -E cmake_progress_report /home/pi/workspace/fast/build/CMakeFiles 1
[ 20%] Building CXX object CMakeFiles/fast.dir/src/fast_10.cpp.o
/usr/bin/c++   -Dfast_EXPORTS -DTEST_DATA_DIR=\"/home/pi/workspace/fast/test/data\" -Wall -Werror -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas -Wall -Werror -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas -O3 -mmmx -msse -msse -msse2 -msse3 -mssse3 -fomit-frame-pointer -fPIC -I/home/pi/workspace/fast/include -I/home/pi/workspace/fast/src -I/usr/local/include/opencv -I/usr/local/include    -o CMakeFiles/fast.dir/src/fast_10.cpp.o -c /home/pi/workspace/fast/src/fast_10.cpp
cc1plus: error: unrecognized command line option ‘-mmmx’
cc1plus: error: unrecognized command line option ‘-msse’
cc1plus: error: unrecognized command line option ‘-msse’
cc1plus: error: unrecognized command line option ‘-msse2’
cc1plus: error: unrecognized command line option ‘-msse3’
cc1plus: error: unrecognized command line option ‘-mssse3’
CMakeFiles/fast.dir/build.make:60: recipe for target 'CMakeFiles/fast.dir/src/fast_10.cpp.o' failed
make[2]: *** [CMakeFiles/fast.dir/src/fast_10.cpp.o] Error 1
make[2]: Leaving directory '/home/pi/workspace/fast/build'
CMakeFiles/Makefile2:66: recipe for target 'CMakeFiles/fast.dir/all' failed
make[1]: *** [CMakeFiles/fast.dir/all] Error 2
make[1]: Leaving directory '/home/pi/workspace/fast/build'
Makefile:119: recipe for target 'all' failed
make: *** [all] Error 2

我安装了 Cmake (sudo apt-get cmake)、Gcc (4.6.3) 和 OpenCV。

我该如何解决这个问题？

Answer 1

Raspberry Pi 是 ARM，-msse* 是否适用。基于 CMakeFile，他们检测 ARM 和禁用的 SSE 标志。也许它不适合你，也许是因为不同的 cmake 版本

尝试改变这个

IF(DEFINED ENV{ARM_ARCHITECTURE})

到

IF(DEFINED $ENV{ARM_ARCHITECTURE})

这是 CMakeLists.txt

中的第 34 行

如果修复不起作用，那么您可以通过编辑 CMakeLists.txt

手动启用 ARM 指定的标志

删除这个：

IF(DEFINED ENV{ARM_ARCHITECTURE})
  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -march=armv7-a")
ELSE()
  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3")
ENDIF()

并替换为这个

SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -march=armv7-a")

也许可以在 github 上报告问题并告诉作者。

EDIT：您想在 https://github.com/uzh-rpg/fast/blob/master/CMakeLists.txt

中进行这些编辑

也尝试在编译前设置 export ARM_ARCHITECTURE=1

SVO：快速 - 圆锥检测器 - 安装：普通 CMake（无 ROS）

SVO : Fast - Coner Detector - Installation: Plain CMake (No ROS)

c++

performance

opencv

raspberry-pi2