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PCL Trunk and ROS Hydro - Assembler Messages

asked 2014-03-25 05:42:44 -0500

atp gravatar image

updated 2014-03-25 05:47:45 -0500

I'm playing with Kinfu in PCL, so I had to clone and compile the PCL trunk from bitbucket. However, one of my own packages does not compile anymore using catkin_make:

/tmp/ccj7RxYq.s: Assembler messages:

/tmp/ccj7RxYq.s:865: Error: no such instruction: `vfmadd312sd (%rbx,%rdi,8),%xmm5,%xmm4'


The file that the errors seem to be related to does not contain anything related to assembler code. The includes are: "Eigen/Dense", <pcl kdtree="" kdtree_flann.h="">, and <pcl search="" organized.h="">.

When I restrict the compiler flags to -fopenmp -Wno-deprecated, it compiles fine. However, when adding -DNDEBUG -O3, the errors occur.

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- What compiler (version) do you use? - What CPU do you have?

MichaelKorn gravatar image MichaelKorn  ( 2014-03-25 22:40:03 -0500 )edit

Compiler: gcc version 4.6.3 (Ubuntu/Linaro 4.6.3-1ubuntu5). CPU model name: Intel(R) Core(TM) i7-4770K.

atp gravatar image atp  ( 2014-03-26 05:56:54 -0500 )edit

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answered 2014-03-26 11:31:24 -0500

I think Haswell support was added in gcc 4.7. I suppose you are using Ubuntu 12.04. I know 2 solutions:

1) You can update gcc: You can add a PPA ( ) and update to 4.7 or 4.8. I'm using this PPA with Ubuntu 12.04, gcc 4.7, i7-4770 and PCL/KinFu.

2) You can use compiler flags to specify the architecture (e.g. "-march=corei7"). This should work, but it maybe not allows to use the full potential of the CPU.

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Changing the optimization level to O2 helped.

atp gravatar image atp  ( 2014-03-26 14:38:01 -0500 )edit

I am not surprised by that. But this is like solution 2, you just don't use this Fused Multiply-Add instructions.

MichaelKorn gravatar image MichaelKorn  ( 2014-03-26 22:55:23 -0500 )edit

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Asked: 2014-03-25 05:42:44 -0500

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Last updated: Mar 26 '14