edge-ai-suites/robotics-ai-suite/pipelines/orb-slam3-sample/patches/0005-add-BUILD_WITH_MATCH_NATIVE-as-new-compile-option-humble.patch at main · bhardwaj-nakul/edge-ai-suites · GitHub

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From 2d8182a567702bf56c00a1bbe228baa0bebdb94e Mon Sep 17 00:00:00 2001
From: kas User <kas@example.com>
Date: Mon, 25 Aug 2025 07:00:58 +0000
Subject: [PATCH] add BUILD_WITH_MATCH_NATIVE as new compile option

Signed-off-by: Zhang, Wei E <wei.e.zhang@intel.com>
---
 CMakeLists.txt                  | 16 ++++++++++++----
 Thirdparty/DBoW2/CMakeLists.txt |  9 +++++++--
 Thirdparty/g2o/CMakeLists.txt   | 11 +++++++----
 debian/rules                    | 11 +++++++----
 4 files changed, 33 insertions(+), 14 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index aeba869..0d7405c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,10 +10,18 @@ ENDIF()

 MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall   -O3")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3")
-set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
-set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")
+option (BUILD_WITH_MARCH_NATIVE "Build with \"-march native\"" OFF)
+if(BUILD_WITH_MARCH_NATIVE)
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall   -O3 -march=native")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native")
+else()
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall   -O3")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3")
+endif()
+
+
+set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE}")
+set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}")

 # Check C++11 or C++0x support
 include(CheckCXXCompilerFlag)
diff --git a/Thirdparty/DBoW2/CMakeLists.txt b/Thirdparty/DBoW2/CMakeLists.txt
index 83a2c07..fa15e04 100644
--- a/Thirdparty/DBoW2/CMakeLists.txt
+++ b/Thirdparty/DBoW2/CMakeLists.txt
@@ -21,8 +21,13 @@ if(NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()

-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native -fPIC")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 -march=native -fPIC")
+if(BUILD_WITH_MARCH_NATIVE)
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native -fPIC")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 -march=native -fPIC")
+else()
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -fPIC")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 -fPIC")
+endif()

 set(HDRS_DBOW2
   DBoW2/BowVector.h
diff --git a/Thirdparty/g2o/CMakeLists.txt b/Thirdparty/g2o/CMakeLists.txt
index 4f3179c..b3a42f4 100644
--- a/Thirdparty/g2o/CMakeLists.txt
+++ b/Thirdparty/g2o/CMakeLists.txt
@@ -72,10 +72,13 @@ IF(OPENMP_FOUND AND G2O_USE_OPENMP)
 ENDIF(OPENMP_FOUND AND G2O_USE_OPENMP)

 # Compiler specific options for gcc
-SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -march=native")
-SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -march=native")
-# SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3")
-# SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3")
+if(BUILD_WITH_MARCH_NATIVE)
+  SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -march=native")
+  SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -march=native")
+else()
+  SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3")
+  SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3")
+endif()

 # activate warnings !!!
 SET(g2o_C_FLAGS "${g2o_C_FLAGS} -Wall -W -fPIC")
diff --git a/debian/rules b/debian/rules
index d4d33ef..0cbf87a 100755
--- a/debian/rules
+++ b/debian/rules
@@ -18,18 +18,21 @@ override_dh_auto_configure:
 	dh_auto_configure \
 		-O--sourcedir=$(CURDIR)/Thirdparty/DBoW2/ \
 		--builddir=$(BUILD_DIR_DBOW2) -- \
-		-DBOW2_STATIC=1
+		-DBOW2_STATIC=1 \
+		-DBUILD_WITH_MARCH_NATIVE=OFF
 	dh_auto_configure \
 		-O--sourcedir=$(CURDIR)/Thirdparty/g2o/ \
 		--builddir=$(BUILD_DIR_G2O) -- \
-		-DG2O_STATIC=1
+		-DG2O_STATIC=1 \
+		-DBUILD_WITH_MARCH_NATIVE=OFF
 	dh_auto_configure \
 		-O--sourcedir=$(CURDIR)/Thirdparty/Sophus/ \
 		--builddir=$(BUILD_DIR_SOPHUS)
 	dh_auto_configure -- -DLINK_LIBRARY_STATIC=1 \
+		-DBUILD_WITH_MARCH_NATIVE=OFF \
 		-DCMAKE_INSTALL_PREFIX=/opt/ros/humble \
-    -DAMENT_PREFIX_PATH=/opt/ros/humble \
-    -DCMAKE_PREFIX_PATH=/opt/ros/humble
+		-DAMENT_PREFIX_PATH=/opt/ros/humble \
+		-DCMAKE_PREFIX_PATH=/opt/ros/humble

 # Override the default build step to include custom third-party library builds
 override_dh_auto_build:
--
2.34.1