How to compile openni_ros with SSE2 only support?

asked 2011-03-10 06:27:01 -0600

Pi Robot
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updated 2016-10-24 08:59:03 -0600

ngrennan
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Hello,

I have the latest Debian Diamondback packages installed on an older laptop (Sony Vaio VGN-TX750P) which makes a nice light brain for an iRobot Create. I am having trouble getting a Kinect to work with the openni_ros stack. I understand the Debian packages are compiled for SSE3 support and this laptop has only SSE2. So I downloaded the openni_ros source from https://kforge.ros.org/openni/openni_ros and ran a "rosmake --rosdep-install". The build completed without errors, but when trying to run "roslaunch openni_camera openni_node.launch" in debug mode, the node is dying with an "Illegal Instruction" error which I have come to learn usually means the package is still assuming SSE3 support.

Does anyone know how to tell the build process for openni_ros to only expect SSE2?

Thanks! patrick

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answered 2011-03-10 06:42:51 -0600

Eric Perko

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You'll have to modify at least the CMakeLists.txt file in the openni_camera package.

See the line

add_definitions (-Wno-missing-field-initializers -O4 -DNDEBUG -mfpmath=sse -msse4 -fopenmp)

You'll have to remove at least the -msse4 flag (and replace it with -msse2? Not 100% sure about that).

Also... not sure what is up with -O4... Pretty sure it doesn't do anything more than -O3 (which is often advised against anyways as it contains sometimes unstable optimizations).

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Brilliant! That did the trick. I used -msse2 instead of -msse4 and -O3 instead of -O4 and now openni_node.launch fires up perfectly. Many thanks!

Pi Robot ( 2011-03-10 08:57:54 -0600 )edit

Sounds nice, I'll try it out. Now, I've seen in $ROS_ROOT/core/rosbuild/public.cmake there is a HAS_SSE3_EXTENSIONS macro, which is being used in some packages. Why not use it in openni_camera as well? Same could go to PCL.

tom ( 2011-03-11 01:45:39 -0600 )edit

@tom: Probably just not being used. I suggest you file a bug ticket (after a quick check for any duplicate tickets) for any packages you find not using such macros (though I'm not sure if there is one to detect SSE4, which openni_camera is using). Something like http://goo.gl/qxxfC could be useful.

Eric Perko ( 2011-03-11 07:43:30 -0600 )edit

I issued a new ticket #4870 https://code.ros.org/trac/ros-pkg/ticket/4870 for openni_camera in module ni (there is no openni_kinect module in Trac yet). Please check if my description is good enough and maybe correct/enhance it. Cheers.

tom ( 2011-03-14 21:40:12 -0600 )edit

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answered 2011-11-07 22:42:41 -0600

Deby85
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Hi everybody, I have the same problem described above, but I'm using ROS electric on Ubuntu 11.04. Checking flags on my system I found that it supports sse, sse2, ssse3 and when I try to use openni_launch with the command

rosrun image_view image_view image:=/camera/ir/raw

it returns the following error:

Illegal Instruction

I've looked for what suggested by Eric Perko into CMakeList of openni_launch package, but I haven't found it. Could somebody help me?

Thanks in advance,

Deby

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See http://answers.ros.org/question/2839/illegal-instruction-when-using-image_view-with. Updating your system to the most recent OpenCV package should solve this.

Patrick Mihelich ( 2011-11-12 09:35:21 -0600 )edit

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How to compile openni_ros with SSE2 only support?

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