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I promised to let know what the necessary changes were to be able to build openNi on an ARM based board, so here it is. My solution is still pretty dirty and I haven't documented it yet. I'll write everything down exactly when I come to building a toolchain and cross-compiling, hopefully some one at Willow Garage can assist me in working out a clean, systematic solution.

Basically what I did was:

1. Run grep -rl -e LDFLAGS+= -e CFLAGS+= -e mmse -e malign-double ~/ros/ni/* (or the folder where the ni stack is installed. You'll have to delete all mmse[2-3] and malign-double occurences in the Makefiles. I ended up editing around 15 files, or so. But probably, as I was (and still am) a noob in the world of ROS, someone fit in ROS build can find a quicker solution (like I don't remember executing make clean before executing grep, lame, I know)
2. Downloaded and installed hdf5 debian packages from PPA (https://launchpad.net/ubuntu/+source/hdf5/1.8.4-patch1-2ubuntu3/+buildjob/2266122)
3. Installed gcc-4.5 and g++-4.5 from PPA to get rid of a nasty compiler error. The logger library inside flann uses va_lists and this bug crashes the installation otherwise.

I guess that's all. Hope it helps.

I promised to let know what the necessary changes were to be able to build openNi on an ARM based board, so here it is. My solution is still pretty dirty and I haven't documented it yet. I'll write everything down exactly when I come to building a toolchain and cross-compiling, hopefully some one at Willow Garage can assist me in working out a clean, systematic solution. solution (or can simply produce one :) ).

Basically what I did was:

1. Run grep -rl -e LDFLAGS+= -e CFLAGS+= -e mmse -e malign-double ~/ros/ni/* (or the folder where the ni stack is installed. You'll have to delete all mmse[2-3] and malign-double occurences in the Makefiles. I ended up editing around 15 files, or so. But probably, as I was (and still am) a noob in the world of ROS, someone fit in ROS build can find a quicker solution (like I don't remember executing make clean before executing grep, lame, I know)
2. Downloaded and installed hdf5 debian packages from PPA (https://launchpad.net/ubuntu/+source/hdf5/1.8.4-patch1-2ubuntu3/+buildjob/2266122)
3. Installed gcc-4.5 and g++-4.5 from PPA to get rid of a nasty compiler error. The logger library inside flann uses va_lists and this bug crashes the installation otherwise.

I guess that's all. Hope it helps.

I promised to let know what the necessary changes were to be able to build openNi on an ARM based board, so here it is. My solution is still pretty dirty and I haven't documented it yet. I'll write everything down exactly when I come to building a toolchain and cross-compiling, hopefully some one at Willow Garage can assist me in working out a clean, systematic solution (or can simply produce one :) ).

Basically what I did was:

1. Run grep -rl -e LDFLAGS+= -e CFLAGS+= -e mmse -e malign-double ~/ros/ni/* (or the folder where the ni stack is installed. You'll have to delete all mmse[2-3] and malign-double occurences in the Makefiles. I ended up editing around 15 files, or so. But probably, as I was (and still am) am a noob in the world of ROS, someone fit in with ROS build can find a quicker solution (like I don't remember executing make clean before executing grep, lame, I know)
2. Downloaded and installed hdf5 debian packages from PPA (https://launchpad.net/ubuntu/+source/hdf5/1.8.4-patch1-2ubuntu3/+buildjob/2266122)
3. Installed gcc-4.5 and g++-4.5 from PPA to get rid of a nasty compiler error. The logger library inside flann uses va_lists and this bug crashes the installation otherwise.

I guess that's all. Hope it helps.