Merge pull request tum-vision#22 from kidovate/master

Added ARM support
souljaboy764 · Jul 12, 2013 · ffcfc5d · ffcfc5d
2 parents dddd5cb + b8ccc7b
commit ffcfc5d
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Showing 3 changed files with 4 additions and 5 deletions.
diff --git a/ptam/CMakeLists.txt b/ptam/CMakeLists.txt
@@ -1,6 +1,5 @@
 cmake_minimum_required(VERSION 2.4.6)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
 # Set the build type.  Options are:
 #  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
 #  Debug          : w/ debug symbols, w/o optimization
@@ -104,7 +103,7 @@ add_definitions(-DKF_REPROJ)
 
 # PTAM executable
 rosbuild_add_executable(ptam ${PTAM_SOURCE_FILES} ${PTAM_HEADER_FILES})
-rosbuild_add_compile_flags(ptam -D_LINUX -D_REENTRANT -Wall  -O3 -march=native -msse3)
+rosbuild_add_compile_flags(ptam -D_LINUX -D_REENTRANT -Wall  -O3 -march=native)
 target_link_libraries(ptam ${PTAM_LIBRARIES} ${OpenCV_LIBS})
 
 

diff --git a/ptam/thirdparty/gvars3/Makefile b/ptam/thirdparty/gvars3/Makefile
@@ -8,8 +8,8 @@ git_checkedout:
 
 gvars_built: 
 	cp -r sources build
-	cd build && export CPATH=../../TooN/include && ./configure --without-ffmpeg --without-dc1394v1 --without-dc1394v2 --with-lapack
-	cd build && export CPATH=../../TooN/include && make -j4 -l4
+	cd build && if [ "`arch`" == "armv7l" ]; then sed -i 's/CXX=@CXX@/CXX=@CXX@ -fPIC/g' Makefile.in; fi
+	cd build && export CPATH=../../TooN/include && ./configure --without-ffmpeg --without-dc1394v1 --without-dc1394v2 --with-lapack --with-pic=no && make -j4 -l4
 	mkdir -p include
 	mkdir -p lib
 	cp build/*.so* lib

diff --git a/ptam/thirdparty/libcvd/Makefile b/ptam/thirdparty/libcvd/Makefile
@@ -8,7 +8,7 @@ git_checkedout:
 
 libcvd_built: 
 	cp -r sources build
-	cd build && export CPATH=../../TooN/include && ./configure --without-ffmpeg --without-dc1394v1 --without-dc1394v2 --with-toon --with-lapack
+	cd build && export CPATH=../../TooN/include && if [ "`arch`" == "armv7l" ]; then export CXXFLAGS="-mfpu=neon"; fi && ./configure --without-ffmpeg --without-dc1394v1 --without-dc1394v2 --with-toon --with-lapack
 	cd build && export CPATH=../../TooN/include && make -j4 -l4
 	mkdir -p include
 	mkdir -p lib