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PCL Kinfu in ROS Hydro

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

atp gravatar image

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?

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

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/
mkdir pcl_workspace && cd pcl_workspace && catkin_make_isolated
mkdir -p src/pcl/ && cd src/pcl
sed -i '/GIT_TAG/d' CMakeLists.txt
cd ../..

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

cd src && svn checkout && cd .. && catkin_make_isolated
source devel_isolated/
roslaunch kinfu kinfu.launch
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Great! Does that work on Hydro?

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

yes, tested with Hydro

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

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

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

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

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

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

billtecteacher gravatar image

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

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Meant to add this as a comment to above question.

billtecteacher gravatar image billtecteacher  ( 2014-03-21 01:59:11 -0500 )edit

Thanks Kinfu and TSDF cloud looks really interesting.

billtecteacher gravatar image billtecteacher  ( 2014-03-21 02:02:49 -0500 )edit

answered 2014-03-20 10:44:03 -0500

tfoote gravatar image

Just install ros-hydro-pcl-ros and it will pull in the correct version of pcl.

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Yes, but that won't make Kinfu available, right?

atp gravatar image atp  ( 2014-03-20 13:25:08 -0500 )edit

It's version 1.7.0 from the pcl debian packages. I don't know where Kinfu is in PCL's distributions.

tfoote gravatar image tfoote  ( 2014-03-20 13:50:40 -0500 )edit

It seems to me that it is not included. To get it in PCL, you have to compile PCL with specific flags.

atp gravatar image atp  ( 2014-03-21 04:52:22 -0500 )edit

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

Seen: 1,549 times

Last updated: Dec 01 '14