PCL Kinfu in ROS Hydro

asked 2014-03-20 10:22:08 -0500

atp
529 ●47 ●56 ●67

Is there a way to use Kinfu from PCL in ROS Hydro? The only package that I can find is pcl17. However, this seems to be for Fuerte.

Can I safely install PCL 1.7 from the PCL website along ROS Hydro or will there be conflicts between the PCL libs included in ROS and the original libraries?

edit retag flag offensive close merge delete

add a comment

5

answered 2014-03-25 23:44:37 -0500

MichaelKorn

1480 ●16 ●18 ●37 http://www.is.uni-due.de/korn/

updated 2014-12-01 09:27:58 -0500

Step by Step (tested with Ubuntu 12.04 and ROS Hydro; ros, ros version of pcl and cuda are installed!):

source /opt/ros/hydro/setup.sh
mkdir pcl_workspace && cd pcl_workspace && catkin_make_isolated
mkdir -p src/pcl/ && cd src/pcl
wget https://raw.githubusercontent.com/ros-perception/perception_pcl/groovy-unstable-devel/pcl/CMakeLists.txt
wget https://raw.githubusercontent.com/ros-perception/perception_pcl/groovy-unstable-devel/pcl/package.xml
sed -i '/GIT_TAG/d' CMakeLists.txt
cd ../..
catkin_make_isolated

You can use our KinFuLS ros Wrapper (e.g. with kinect):

cd src && svn checkout http://fsstud.is.uni-due.de/svn/ros/is/kinfu && cd .. && catkin_make_isolated
source devel_isolated/setup.sh
roslaunch kinfu kinfu.launch

edit flag offensive delete link

Comments

1

Great! Does that work on Hydro?

atp ( 2014-03-26 05:53:50 -0500 )edit

yes, tested with Hydro

MichaelKorn ( 2014-03-26 11:09:16 -0500 )edit

Hi, If I run $catkin_make_isolated it displays: Could not find source space: /home/meng/pcl_workspace/src

Lili Meng ( 2014-10-27 13:56:09 -0500 )edit

It seems that it works! But how could the KinFu be visualized? Using Rviz???

Lili Meng ( 2014-10-27 14:24:46 -0500 )edit

yes, you can use rviz. Subscribe to /camera/kinfuLS/depth

MichaelKorn ( 2014-11-06 07:38:35 -0500 )edit

Hi Michael,

I was trying to compile the PCL in the way that you suggested. However, I got the following errors that I don't know how to fix, could you help me?

make[5]: * [octree/CMakeFiles/pcl_octree.dir/src/octree_inst.cpp.o] Error 1

Cansen ( 2014-11-13 09:40:38 -0500 )edit

Cansen, I need more information, please copy the error message

MichaelKorn ( 2014-11-13 10:47:00 -0500 )edit

Hi Michael, I just found out the bug. To solve the problem, I need to change the cmake file: pcl-trunk → cmake → pcl_find_sse.cmake. replace "-march=native" with "-march=corei7". This solution can be found in pcl mailing list.

Thanks a lot! Cansen

Cansen ( 2014-11-14 06:39:56 -0500 )edit

see more comments

1

answered 2014-03-20 10:33:47 -0500

billtecteacher
101 ●7 ●10 ●12

Just curious what is Kinfu? I was wondering just yesterday if installing PCL would mess up my hydro I have already installed, so I will be curious to see answer to this question. Thankyou