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To get around the sse error you need to go into src/external/SiftGPU/makefile and comment out lines 19 and 20. Arm doesn't have these extended floating point instructions. Also in the CMakeLists.txt in the top level directory uncomment line 30 and comment the one right under it that is uncommitted. Don't remember which number I've slept since I did this :) That will get it to build on ARM. Lots of options for this puppy. Sucks for me though although the Zed is openNi compatible there is no driver for it and I can't even find source for the drivers included to see if I can cobble up one. Tried remapping the streams coming out of the zed_wrapper thinking that might do what openni is doing. But something isn't right it crashes immediately when you start the camera. So I guess I'll have to look at another SLAM or just stick with rtabmap it works great.
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