PCL standalone and 0.3.x+

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Re: PCL standalone and 0.3.x+

Radu B. Rusu
Administrator
Some more news... as we're slowly moving towards 0.4.


On 09/28/2010 01:28 AM, Radu Bogdan Rusu wrote:
> On 09/26/2010 02:04 PM, Radu Bogdan Rusu wrote:
>> * we contacted the ANN developers to see if they are still maintaining
>> the library and whether they are willing to accept our patches
>
> no reply yet.


Marius is looking into benchmarking the performance of FLANN vs ANN for 3D xyz search. If we get FLANN to work faster
than ANN under all conditions, we are going to drop the ANN dependency, as it looks like the library is no longer
maintained.

>> * we'll contact Benoit and the Eigen developers today in an attempt to
>> migrate some of the patches, and ask for a new release. However this
>> will not solve the Eigen3 renaming issue.
>
> 3/4 patches (all except the namespace rename) have been applied in
> trunk. Waiting for a new release...

Done! Thanks to Benoit that incorporated our patches. I just switched to eigen3.0-beta2 in trunk, and things run out
well. Eigen did another tiny API breaking change in their attempt to clean their internal API... they got rid of
Eigen::Transform3f. To get the same behavior, I renamed all PCL code to use Eigen::Affine3f. Alternatively, one can do a
typedef Eigen3::Transform<float, 3, Eigen3::Affine> Transform3f.

Better break it now when we can fix it than later. I did ask the Eigen maintainers if they anticipate more API breaking
changes until 3.0 final, just so we can be prepared :)

> To do:
> - need to clean CMinPack's patches and integrate the fPIC.patch and the
> shared.patch in their CMakeLists.txt on a per OS basis. Any volunteers?
> The URL is
> https://code.ros.org/svn/ros-pkg/stacks/point_cloud_perception/trunk/cminpack/


Done! Thanks to Geoff and Federic who incorporated our patches! We switched to cminpack 1.0.4 a few days ago.


Cheers,
Radu.
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Re: PCL standalone and 0.3.x+

Geoffrey Biggs
So, what's left for the standalone release?

Geoff

On 26/10/10 23:27, Radu Bogdan Rusu wrote:

> Some more news... as we're slowly moving towards 0.4.
>
>
> On 09/28/2010 01:28 AM, Radu Bogdan Rusu wrote:
>> On 09/26/2010 02:04 PM, Radu Bogdan Rusu wrote:
>>> * we contacted the ANN developers to see if they are still maintaining
>>> the library and whether they are willing to accept our patches
>>
>> no reply yet.
>
>
> Marius is looking into benchmarking the performance of FLANN vs ANN for 3D xyz search. If we get FLANN to work faster
> than ANN under all conditions, we are going to drop the ANN dependency, as it looks like the library is no longer
> maintained.
>
>>> * we'll contact Benoit and the Eigen developers today in an attempt to
>>> migrate some of the patches, and ask for a new release. However this
>>> will not solve the Eigen3 renaming issue.
>>
>> 3/4 patches (all except the namespace rename) have been applied in
>> trunk. Waiting for a new release...
>
> Done! Thanks to Benoit that incorporated our patches. I just switched to eigen3.0-beta2 in trunk, and things run out
> well. Eigen did another tiny API breaking change in their attempt to clean their internal API... they got rid of
> Eigen::Transform3f. To get the same behavior, I renamed all PCL code to use Eigen::Affine3f. Alternatively, one can do a
> typedef Eigen3::Transform<float, 3, Eigen3::Affine> Transform3f.
>
> Better break it now when we can fix it than later. I did ask the Eigen maintainers if they anticipate more API breaking
> changes until 3.0 final, just so we can be prepared :)
>
>> To do:
>> - need to clean CMinPack's patches and integrate the fPIC.patch and the
>> shared.patch in their CMakeLists.txt on a per OS basis. Any volunteers?
>> The URL is
>> https://code.ros.org/svn/ros-pkg/stacks/point_cloud_perception/trunk/cminpack/
>
>
> Done! Thanks to Geoff and Federic who incorporated our patches! We switched to cminpack 1.0.4 a few days ago.
>
>
> Cheers,
> Radu.
> _______________________________________________
> [hidden email] / http://pcl.ros.org
> https://code.ros.org/mailman/listinfo/pcl-users
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Re: PCL standalone and 0.3.x+

Radu B. Rusu
Administrator
* a CMakeList file that allow us to integrate all these libraries together (blame Brian for making rosbuild so awesome)

* finish the script that copies the hand written messages to a location accessible by all PCL routines

* ...?

Cheers,
Radu.


On 10/27/2010 12:29 PM, Geoffrey Biggs wrote:

> So, what's left for the standalone release?
>
> Geoff
>
> On 26/10/10 23:27, Radu Bogdan Rusu wrote:
>> Some more news... as we're slowly moving towards 0.4.
>>
>>
>> On 09/28/2010 01:28 AM, Radu Bogdan Rusu wrote:
>>> On 09/26/2010 02:04 PM, Radu Bogdan Rusu wrote:
>>>> * we contacted the ANN developers to see if they are still maintaining
>>>> the library and whether they are willing to accept our patches
>>>
>>> no reply yet.
>>
>>
>> Marius is looking into benchmarking the performance of FLANN vs ANN for 3D xyz search. If we get FLANN to work faster
>> than ANN under all conditions, we are going to drop the ANN dependency, as it looks like the library is no longer
>> maintained.
>>
>>>> * we'll contact Benoit and the Eigen developers today in an attempt to
>>>> migrate some of the patches, and ask for a new release. However this
>>>> will not solve the Eigen3 renaming issue.
>>>
>>> 3/4 patches (all except the namespace rename) have been applied in
>>> trunk. Waiting for a new release...
>>
>> Done! Thanks to Benoit that incorporated our patches. I just switched to eigen3.0-beta2 in trunk, and things run out
>> well. Eigen did another tiny API breaking change in their attempt to clean their internal API... they got rid of
>> Eigen::Transform3f. To get the same behavior, I renamed all PCL code to use Eigen::Affine3f. Alternatively, one can do a
>> typedef Eigen3::Transform<float, 3, Eigen3::Affine>  Transform3f.
>>
>> Better break it now when we can fix it than later. I did ask the Eigen maintainers if they anticipate more API breaking
>> changes until 3.0 final, just so we can be prepared :)
>>
>>> To do:
>>> - need to clean CMinPack's patches and integrate the fPIC.patch and the
>>> shared.patch in their CMakeLists.txt on a per OS basis. Any volunteers?
>>> The URL is
>>> https://code.ros.org/svn/ros-pkg/stacks/point_cloud_perception/trunk/cminpack/
>>
>>
>> Done! Thanks to Geoff and Federic who incorporated our patches! We switched to cminpack 1.0.4 a few days ago.
>>
>>
>> Cheers,
>> Radu.
>> _______________________________________________
>> [hidden email] / http://pcl.ros.org
>> https://code.ros.org/mailman/listinfo/pcl-users
> _______________________________________________
> [hidden email] / http://pcl.ros.org
> https://code.ros.org/mailman/listinfo/pcl-users
_______________________________________________
[hidden email] / http://pcl.ros.org
https://code.ros.org/mailman/listinfo/pcl-users
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