ARM hack in ethz-asl/maplab

maplab.diff

diff --git a/algorithms/loopclosure/descriptor-projection/CMakeLists.txt b/algorithms/loopclosure/descriptor-projection/CMakeLists.txt
index 3653b75..9770ff0 100644
--- a/algorithms/loopclosure/descriptor-projection/CMakeLists.txt
+++ b/algorithms/loopclosure/descriptor-projection/CMakeLists.txt
@@ -4,11 +4,16 @@ project(descriptor_projection)
 find_package(catkin_simple REQUIRED)
 catkin_simple()
 
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon")
+add_definitions("-mfpu=neon")
+
 set(PROTO_DEFNS proto/descriptor-projection/projected_image.proto)
 PROTOBUF_CATKIN_GENERATE_CPP2("proto" PROTO_SRCS PROTO_HDRS ${PROTO_DEFNS})
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
 set(LIBRARY_NAME ${PROJECT_NAME})
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon")
+add_definitions("-mfpu=neon")
 
 cs_add_library(${LIBRARY_NAME} src/build-projection-matrix.cc
                                src/descriptor-projection.cc
@@ -28,6 +33,8 @@ if(CATKIN_ENABLE_TESTING)
   target_link_libraries(test_matching_based_lc_quantizer_serialization ${LIBRARY_NAME})
 endif()
 
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon")
+add_definitions("-mfpu=neon")
 # CMake Indexing
 FILE(GLOB_RECURSE LibFiles "include/*")
 add_custom_target(headers SOURCES ${LibFiles})
diff --git a/algorithms/loopclosure/descriptor-projection/include/descriptor-projection/descriptor-projection.h b/algorithms/loopclosure/descriptor-projection/include/descriptor-projection/descriptor-projection.h
index 7fad532..9d974b0 100644
--- a/algorithms/loopclosure/descriptor-projection/include/descriptor-projection/descriptor-projection.h
+++ b/algorithms/loopclosure/descriptor-projection/include/descriptor-projection/descriptor-projection.h
@@ -67,20 +67,11 @@ void DescriptorToEigenMatrix(
 
 // Define a set of macros to NEON and SSE instructions so we can use the same
 // code further down for both platforms.
-#ifdef __ARM_NEON__
 #define VECTOR_SET vdupq_n_u8       // Set a vector from a single uint8.
 #define VECTOR_LOAD(x) vld1q_u8(x)  // Set a vector from a mem location.
 #define VECTOR_TYPE uint8x16_t      // The type of the vector element.
 #define VECTOR_AND vandq_u8         // The vector AND instruction.
 #define VECTOR_EXTRACT(x, i) vgetq_lane_u8(x, i)  // Get element from vector.
-#else
-#define VECTOR_SET _mm_set1_epi8
-#define VECTOR_LOAD(x) _mm_load_si128(reinterpret_cast<const __m128i*>(x))
-#define VECTOR_TYPE __m128i
-#define VECTOR_AND _mm_and_si128
-// Could use _mm_extract_epi8, but this requires SSE4.1.
-#define VECTOR_EXTRACT(x, i) reinterpret_cast<const char*>(&x)[i]
-#endif  // __ARM_NEON__
 
   VECTOR_TYPE mask[8];
   mask[0] = VECTOR_SET((1 << 0));
@@ -142,20 +133,11 @@ void DescriptorToEigenMatrix(
 
 // Define a set of macros to NEON and SSE instructions so we can use the same
 // code further down for both platforms.
-#ifdef ANDROID
 #define VECTOR_SET vdupq_n_u8       // Set a vector from a single uint8.
 #define VECTOR_LOAD(x) vld1q_u8(x)  // Set a vector from a mem location.
 #define VECTOR_TYPE uint8x16_t      // The type of the vector element.
 #define VECTOR_AND vandq_u8         // The vector AND instruction.
 #define VECTOR_EXTRACT(x, i) vgetq_lane_u8(x, i)  // Get element from vector.
-#else
-#define VECTOR_SET _mm_set1_epi8
-#define VECTOR_LOAD(x) _mm_load_si128(reinterpret_cast<const __m128i*>(x))
-#define VECTOR_TYPE __m128i
-#define VECTOR_AND _mm_and_si128
-// Could use _mm_extract_epi8, but this requires SSE4.1.
-#define VECTOR_EXTRACT(x, i) reinterpret_cast<const char*>(&x)[i]
-#endif  // ANDROID
 
   VECTOR_TYPE mask[8];
   mask[0] = VECTOR_SET((1 << 0));
diff --git a/algorithms/loopclosure/loop-closure-handler/CMakeLists.txt b/algorithms/loopclosure/loop-closure-handler/CMakeLists.txt
index 10dafbb..584542e 100644
--- a/algorithms/loopclosure/loop-closure-handler/CMakeLists.txt
+++ b/algorithms/loopclosure/loop-closure-handler/CMakeLists.txt
@@ -7,6 +7,10 @@ catkin_simple(ALL_DEPS_REQUIRED)
 set(PROTO_DEFNS proto/loop-closure-handler/loop_detector_node.proto)
 PROTOBUF_CATKIN_GENERATE_CPP2("proto" PROTO_SRCS PROTO_HDRS ${PROTO_DEFNS})
 
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon")
+add_definitions("-mfpu=neon")
+
 #############
 # LIBRARIES #
 #############
diff --git a/algorithms/loopclosure/matching-based-loopclosure/CMakeLists.txt b/algorithms/loopclosure/matching-based-loopclosure/CMakeLists.txt
index c582e3e..8387f01 100644
--- a/algorithms/loopclosure/matching-based-loopclosure/CMakeLists.txt
+++ b/algorithms/loopclosure/matching-based-loopclosure/CMakeLists.txt
@@ -7,6 +7,10 @@ catkin_simple()
 set(PROTO_DEFNS proto/matching-based-loopclosure/matching_based_loop_detector.proto)
 PROTOBUF_CATKIN_GENERATE_CPP2("proto" PROTO_SRCS PROTO_HDRS ${PROTO_DEFNS})
 
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon")
+add_definitions("-mfpu=neon")
+
 set(LIBRARY_NAME ${PROJECT_NAME})
 cs_add_library(${LIBRARY_NAME} src/detector-settings.cc
                                src/matching-based-engine.cc
diff --git a/algorithms/loopclosure/vocabulary-tree/CMakeLists.txt b/algorithms/loopclosure/vocabulary-tree/CMakeLists.txt
index 44e18dc..a13897b 100644
--- a/algorithms/loopclosure/vocabulary-tree/CMakeLists.txt
+++ b/algorithms/loopclosure/vocabulary-tree/CMakeLists.txt
@@ -4,7 +4,7 @@ project(vocabulary_tree)
 find_package(catkin_simple REQUIRED)
 catkin_simple(ALL_DEPS_REQUIRED)
 
-add_definitions(-std=c++11 -mssse3)
+add_definitions(-std=c++11)
 
 set(LIBRARY_NAME ${PROJECT_NAME})
 cs_add_library(${LIBRARY_NAME}
diff --git a/algorithms/loopclosure/vocabulary-tree/cmake/export_flags.cmake b/algorithms/loopclosure/vocabulary-tree/cmake/export_flags.cmake
index e45cc4e..c335e15 100644
--- a/algorithms/loopclosure/vocabulary-tree/cmake/export_flags.cmake
+++ b/algorithms/loopclosure/vocabulary-tree/cmake/export_flags.cmake
@@ -1,3 +1,3 @@
 if (NOT ANDROID)
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mssse3")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
 endif()
Submodule aslam_cv2 contains modified content
diff --git a/aslam_cv2/aslam_cv_common/cmake/export_flags.cmake b/aslam_cv2/aslam_cv_common/cmake/export_flags.cmake
index 1d6d341..05ac467 100644
--- a/aslam_cv2/aslam_cv_common/cmake/export_flags.cmake
+++ b/aslam_cv2/aslam_cv_common/cmake/export_flags.cmake
@@ -5,7 +5,7 @@ if (ARCHITECTURE MATCHES "^(arm)")
 endif()
 
 if (NOT ANDROID AND NOT IS_ARM_ARCHITECTURE)
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mssse3")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
 elseif (IS_ARM_ARCHITECTURE)
   message(STATUS "Setting ARM compilation flags.")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -march=armv7-a")
diff --git a/aslam_cv2/aslam_cv_matcher/CMakeLists.txt b/aslam_cv2/aslam_cv_matcher/CMakeLists.txt
index 004127f..4d5ba67 100644
--- a/aslam_cv2/aslam_cv_matcher/CMakeLists.txt
+++ b/aslam_cv2/aslam_cv_matcher/CMakeLists.txt
@@ -30,7 +30,7 @@ set(SOURCES
 )
 
 # for ./aslam_cv/aslam_cv_common/include/aslam/common/hamming-inl.h
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mssse3")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
 cs_add_library(${PROJECT_NAME} ${SOURCES} ${HEADERS})
 
 add_doxygen(NOT_AUTOMATIC)
diff --git a/common/maplab-common/src/unique-id.cc b/common/maplab-common/src/unique-id.cc
index 639b568..0c0922d 100644
--- a/common/maplab-common/src/unique-id.cc
+++ b/common/maplab-common/src/unique-id.cc
@@ -6,10 +6,10 @@
 namespace common {
 namespace internal {
 void generateUnique128BitHash(uint64_t hash[2]) {
-  static_assert(
+/*  static_assert(
       sizeof(size_t) == sizeof(uint64_t),
       "Please adapt the below to your non-64-bit system.");
-
+*/
   static std::atomic<int> counter;
   hash[0] =
       common::internal::UniqueIdHashSeed::instance().seed() ^
diff --git a/map-structure/localization-summary-map/CMakeLists.txt b/map-structure/localization-summary-map/CMakeLists.txt
index 37bbbdb..8d33a2a 100644
--- a/map-structure/localization-summary-map/CMakeLists.txt
+++ b/map-structure/localization-summary-map/CMakeLists.txt
@@ -4,6 +4,9 @@ project(localization_summary_map)
 find_package(catkin_simple REQUIRED)
 catkin_simple(ALL_DEPS_REQUIRED)
 
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon")
+add_definitions("-mfpu=neon")
+
 set(PROTO_DEFNS proto/localization-summary-map/localization-summary-map.proto)
 PROTOBUF_CATKIN_GENERATE_CPP2("proto" PROTO_SRCS PROTO_HDRS ${PROTO_DEFNS})
 
diff --git a/map-structure/vi-map/include/vi-map/vi-map.h b/map-structure/vi-map/include/vi-map/vi-map.h
index 09bbb31..04b949c 100644
--- a/map-structure/vi-map/include/vi-map/vi-map.h
+++ b/map-structure/vi-map/include/vi-map/vi-map.h
@@ -498,7 +498,7 @@ class VIMap : public backend::ResourceMap,
       std::vector<size_t>* num_unknown_landmarks_per_camera,
       std::vector<size_t>* total_num_landmarks_per_camera,
       size_t* num_landmarks, size_t* num_vertices, size_t* num_observations,
-      double* duration_s, time_t* start_time, time_t* end_time) const;
+      double* duration_s, int64_t* start_time, int64_t* end_time) const;
 
   std::string printMapStatistics(
       const vi_map::MissionId& mission, const unsigned int mission_number,

maplab_dependencies.diff

Submodule internal/ethzasl_brisk contains modified content
diff --git a/internal/ethzasl_brisk/agast/cmake/export_flags.cmake b/internal/ethzasl_brisk/agast/cmake/export_flags.cmake
index 3a67608..675c020 100644
--- a/internal/ethzasl_brisk/agast/cmake/export_flags.cmake
+++ b/internal/ethzasl_brisk/agast/cmake/export_flags.cmake
@@ -1,4 +1,2 @@
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DHAVE_OPENCV -std=c++0x")
-if (NOT ANDROID)
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mssse3")  
-endif()
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")  
diff --git a/internal/ethzasl_brisk/brisk/CMakeLists.txt b/internal/ethzasl_brisk/brisk/CMakeLists.txt
index 75da821..3be90f8 100755
--- a/internal/ethzasl_brisk/brisk/CMakeLists.txt
+++ b/internal/ethzasl_brisk/brisk/CMakeLists.txt
@@ -6,7 +6,7 @@ project(brisk)
 find_package(catkin_simple REQUIRED)
 catkin_simple(ALL_DEPS_REQUIRED)
 
-add_definitions("-mssse3 -DHAVE_OPENCV")
+add_definitions("-DHAVE_OPENCV -mfpu=neon")
 
 include_directories(${CATKIN_DEVEL_PREFIX}/include)
 
@@ -22,7 +22,6 @@ cs_add_library(${PROJECT_NAME} src/brisk-descriptor-extractor.cc
                                src/brisk-opencv.cc
                                src/brisk-scale-space.cc
                                src/brute-force-matcher.cc   
-                               src/camera-aware-feature.cc
                                src/harris-feature-detector.cc
                                src/harris-score-calculator.cc
                                src/harris-score-calculator-float.cc
@@ -31,11 +30,10 @@ cs_add_library(${PROJECT_NAME} src/brisk-descriptor-extractor.cc
                                src/pattern-provider.cc
                                src/vectorized-filters.cc
                                src/test/image-io.cc
-                               src/timer.cc
-                               src/brisk-v1.cc)  
+                               src/timer.cc)  
                      
-cs_add_executable(camera src/test-cameras.cc)
-target_link_libraries(camera ${PROJECT_NAME})
+#cs_add_executable(camera src/test-cameras.cc)
+#target_link_libraries(camera ${PROJECT_NAME})
 
 # Testing.
 ##########
diff --git a/internal/ethzasl_brisk/brisk/cmake/export_flags.cmake b/internal/ethzasl_brisk/brisk/cmake/export_flags.cmake
index 3a67608..250705d 100644
--- a/internal/ethzasl_brisk/brisk/cmake/export_flags.cmake
+++ b/internal/ethzasl_brisk/brisk/cmake/export_flags.cmake
@@ -1,4 +1,2 @@
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DHAVE_OPENCV -std=c++0x")
-if (NOT ANDROID)
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mssse3")  
-endif()
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")  
diff --git a/internal/ethzasl_brisk/brisk_ros_demo/CMakeLists.txt b/internal/ethzasl_brisk/brisk_ros_demo/CMakeLists.txt
index 6b4e9ab..f1bebc4 100644
--- a/internal/ethzasl_brisk/brisk_ros_demo/CMakeLists.txt
+++ b/internal/ethzasl_brisk/brisk_ros_demo/CMakeLists.txt
@@ -4,7 +4,7 @@ project(brisk_ros_demo)
 find_package(catkin_simple REQUIRED)
 catkin_simple(ALL_DEPS_REQUIRED)
 
-add_definitions(-msse2 -mssse3 -march=native -Wextra -Wall
+add_definitions(-msse2 -march=native -Wextra -Wall
                 -Wno-overloaded-virtual -Wno-non-virtual-dtor # OpenCV.
                 -std=c++0x -DENABLE_BRISK_TIMING -DTEST_IN_SOURCE
                 -DHAVE_OPENCV)
Submodule internal/maplab_rovio contains modified content
diff --git a/internal/maplab_rovio/CMakeLists.txt b/internal/maplab_rovio/CMakeLists.txt
index b487b46..7ff35d8 100644
--- a/internal/maplab_rovio/CMakeLists.txt
+++ b/internal/maplab_rovio/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required (VERSION 2.6)
 project(rovio)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -mssse3")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 set(ROVIO_NMAXFEATURE 25 CACHE STRING "Number of features for ROVIO")
 set(ROVIO_NCAM 1 CACHE STRING "Number of enabled cameras")
 set(ROVIO_NLEVELS 4 CACHE STRING "Number of image leavels for the features")