How to add new class/functionality to pcl17 in ros from standalone pcl library

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How to add new class/functionality to pcl17 in ros from standalone pcl library

saimanoj18
This post was updated on .
Hi all,

I have ubuntu 12.04 and fuerte and pcl17 and pcl17_ros from git

I want to add an existing class from pcl standalone library to pcl17 in ros.

For example:

In PCL 1.7 standlaone library, there is a class correspondence_rejection_poly which is not present in pcl17 which is available for ROS. I want to use this with ros.

What I tried: 
Added the respective files from pcl 1.7 standalone libraries like correspondence_rejection_poly.h .hpp and .cpp in the build folder at the right location. Edited the files so that 'pcl' is changed to 'pcl17'. Added those files in the CMakeLists.txt  inside the registration folder.

Then tried compiling 'rosmake --pre-clean pcl17' and results in errors...

  In file included from /home/sai/fuerte_workspace/pcl17/build/pcl_trunk/registration/include/pcl17/registration/correspondence_rejection_poly.h:355:0,
                   from /home/sai/fuerte_workspace/pcl17/build/pcl_trunk/registration/src/correspondence_rejection_poly.cpp:40:
  /home/sai/fuerte_workspace/pcl17/build/pcl_trunk/registration/include/pcl17/registration/impl/correspondence_rejection_poly.hpp:43:48: error: expected initializer before ‘<’ token
  In file included from /home/sai/fuerte_workspace/pcl17/build/pcl_trunk/registration/include/pcl17/registration/correspondence_rejection_poly.h:355:0,
                   from /home/sai/fuerte_workspace/pcl17/build/pcl_trunk/registration/src/correspondence_rejection_poly.cpp:40:
  /home/sai/fuerte_workspace/pcl17/build/pcl_trunk/registration/include/pcl17/registration/impl/correspondence_rejection_poly.hpp:154:48: error: expected initializer before ‘<’ token
  /home/sai/fuerte_workspace/pcl17/build/pcl_trunk/registration/include/pcl17/registration/impl/correspondence_rejection_poly.hpp:173:48: error: expected initializer before ‘<’ token
  Linking CXX executable ../bin/pcl_vfh_estimation
  make[3]: *** [registration/CMakeFiles/pcl_registration.dir/src/correspondence_rejection_poly.cpp.o] Error 1
  make[3]: Leaving directory `/home/sai/fuerte_workspace/pcl17/build/pcl_trunk/build'
  make[2]: *** [registration/CMakeFiles/pcl_registration.dir/all] Error 2
  make[2]: *** Waiting for unfinished jobs....
  [ 78%] Building CXX object segmentation/CMakeFiles/pcl_segmentation.dir/src/region_growing.cpp.o
  /usr/bin/ld: skipping incompatible /usr/lib/Lib/libOpenNI.so when searching for -lOpenNI
  make[3]: Leaving directory `/home/sai/fuerte_workspace/pcl17/build/pcl_trunk/build'
  [ 78%] Built target pcl_vfh_estimation


Can any one tell me how to add this !
 
With all Good wishes,
Sai Manoj Prakhya
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Re: How to add new class/functionality to pcl17 in ros from standalone pcl library

saimanoj18
Any suggestions on how to solve this issue.
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Re: How to add new class/functionality to pcl17 in ros from standalone pcl library

Khalid Yousif

I was doing a similar thing before. It was a headache and the errors were never ending.  I found upgrading to ROS hydro a much easier solution. Hydro comes with pcl 1.7. You can check if it has the functions you need. If so, it might be a better idea to upgrade ur ROS.

Regards,
Khalid

On 12/12/2013 6:11 PM, "saimanoj18" <[hidden email]> wrote:
Any suggestions on how to solve this issue.



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Re: How to add new class/functionality to pcl17 in ros from standalone pcl library

saimanoj18
I would like to use ROS fuerte and rosmake functionality and some packages work on fuerte only. 
So switching ROS version is not an option.

Any one successful in adding new functionality/class to pcl17 in ros ?
 
With all Good wishes,
Sai Manoj Prakhya


On Thursday, 12 December 2013 3:45 PM, Khalid Yousif <[hidden email]> wrote:
I was doing a similar thing before. It was a headache and the errors were never ending.  I found upgrading to ROS hydro a much easier solution. Hydro comes with pcl 1.7. You can check if it has the functions you need. If so, it might be a better idea to upgrade ur ROS.
Regards,
Khalid
On 12/12/2013 6:11 PM, "saimanoj18" <[hidden email]> wrote:
Any suggestions on how to solve this issue.



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Sent from the Point Cloud Library (PCL) Users mailing list mailing list archive at Nabble.com.
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Re: How to add new class/functionality to pcl17 in ros from standalone pcl library

Jochen Sprickerhof
Administrator
* Sai Manoj <[hidden email]> [2013-12-12 00:20]:
> I would like to use ROS fuerte and rosmake functionality and some packages work on fuerte only. 
> So switching ROS version is not an option.
>
> Any one successful in adding new functionality/class to pcl17 in ros ?

Have a look here: http://wiki.ros.org/pcl17_standalone

Cheers Jochen
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