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jsk-ros-pkg / jsk_recognition

JSK perception ROS packages
https://github.com/jsk-ros-pkg/jsk_recognition
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Build error in Install PCL from source #2827

Open Kanazawanaoaki opened 3 months ago

Kanazawanaoaki commented 3 months ago

I tried to do "Install PCL from source with CUDA" on https://jsk-docs.readthedocs.io/projects/jsk_recognition/en/latest/install_pcl_from_source.html to use Kinfu, but errors occurred.

Error pattern 1

/home/kanazawa/pcl-pcl-1.8.1/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h:144:17: error: invalid initialization of reference of type 'const std::vector<float>&' from expression of type 'const boost::shared_ptr<std::vector<float> >'
  144 |         return (plane_coeff_d_);
      |                ~^~~~~~~~~~~~~~~

Related: https://github.com/PointCloudLibrary/pcl/issues/2282

Error pattern 2

/home/kanazawa/pcl-pcl-1.8.1/visualization/src/pcl_visualizer.cpp:103:10: fatal error: boost/uuid/sha1.hpp: No such file or directory
  103 | #include <boost/uuid/sha1.hpp>
      |          ^~~~~~~~~~~~~~~~~~~~~
compilation terminated.

Related: https://github.com/PointCloudLibrary/pcl/issues/2682

Solution

These problems seem to have been resolved in PCL version >=1.9.0 and in noetic 1.10.0 is suitable, so I was able to build as follows.

cd
wget https://github.com/PointCloudLibrary/pcl/archive/pcl-1.10.0.tar.gz
tar xvzf pcl-1.10.0.tar.gz
cd pcl-pcl-1.10.0
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DWITH_CUDA:BOOL=ON
make -j 4
sudo make install

If kinfu is successfully executed and there are no problems, I will create a PR.

mqcmd196 commented 3 months ago

I think the version would depend on the current Ubuntu version.

If you use Ubuntu 20.04, you might download the PCL 1.10.0 source. Canonical releases the PCL by apt with 1.10.0 https://packages.ubuntu.com/source/focal/pcl .

Installing different versions of packages not released by apt will cause ABI incompatibility and segmentation faults in libraries and executables that depend on PCL.

2024年4月21日(日) 16:05 Naoaki Kanazawa @.***>:

I tried to do "Install PCL from source with CUDA" on https://jsk-docs.readthedocs.io/projects/jsk_recognition/en/latest/install_pcl_from_source.html to use Kinfu, but errors occurred. Error pattern 1

/home/kanazawa/pcl-pcl-1.8.1/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h:144:17: error: invalid initialization of reference of type 'const std::vector&' from expression of type 'const boost::shared_ptr<std::vector >' 144 | return (plane_coeffd); | ~^~~~~~~

Related: PointCloudLibrary/pcl#2282 https://github.com/PointCloudLibrary/pcl/issues/2282 Error pattern 2

/home/kanazawa/pcl-pcl-1.8.1/visualization/src/pcl_visualizer.cpp:103:10: fatal error: boost/uuid/sha1.hpp: No such file or directory 103 | #include <boost/uuid/sha1.hpp> | ^~~~~ compilation terminated.

Related: PointCloudLibrary/pcl#2682 https://github.com/PointCloudLibrary/pcl/issues/2682 Solution

These problems seem to have been resolved in PCL version 1.9.0, so I was able to build as follows.

cd wget https://github.com/PointCloudLibrary/pcl/archive/pcl-1.9.0.tar.gz tar xvzf pcl-1.9.0.tar.gz cd pcl-pcl-1.9.0 mkdir build cd build cmake .. -DCMAKE_BUILD_TYPE=Release -DWITH_CUDA:BOOL=ON make -j 4 sudo make install

If kinfu is successfully executed and there are no problems, I will create a PR.

— Reply to this email directly, view it on GitHub https://github.com/jsk-ros-pkg/jsk_recognition/issues/2827, or unsubscribe https://github.com/notifications/unsubscribe-auth/AGUARFCR7RSNCTZSZQ6QTDLY6NQLJAVCNFSM6AAAAABGREKF76VHI2DSMVQWIX3LMV43ASLTON2WKOZSGI2TIOJTGYZDQMY . You are receiving this because you are subscribed to this thread.Message ID: @.***>

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Yoshiki Obinata The University of Tokyo Graduate School of Information Science and Technology Department of Mechano Informatics 2nd grade Ph.D course student JSK Robotics Laboratory

knorth55 commented 3 months ago

When we want to build jsk_pcl_ros with your own PCL, you need to carefully check PCL version match. ldd libjsk_pcl_ros.so | grep pcl At least, we need to build these packages when we use PCL 1.8 on indigo or kinetic, i remember.

cc. @pazeshun https://github.com/start-jsk/jsk_apc/blob/a468d3e44b3964a69faa372d9fe141b72ab13f94/fc.rosinstall.kinetic#L21-L32