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The error tells you that the loader is not aware of surf_matching_plugins::image_roi plugin but does know a surf_matching_plugins/image_roi plugin. It seems like you are trying to load the plugin by the type instead of the name (as specified in your surf_matching_plugins.xml). If you change

poly_loader.createInstance("surf_matching_plugins::image_roi");

to

poly_loader.createInstance("surf_matching_plugins/image_roi");

The loader should be able to find the right plugin.

Good luck