Custom PCL Programs [for NOOBs like me]

(Pre-Requisite: Install PCL on wasif in Echidna FULL)

We will create a program called wasifs_vlp_viewer

First cd into your PCL root directory

cd PCL/pcl-trunk/

Create a new git branch so not to ruin the existing version

git checkout -b sandbox

Use cmake to make all the necessary Makefile, CMakeLists.txt, CMakeFiles directories and files

cmake .

The program I want to modify is pcl_vlp_viewer.cpp cd to this file location

cd visualizations/tools/

Open with some editor and save a new file named wasifs_vlp_viewer.cpp with your edits

sublime pcl_vlp_viewer.cpp

We must include this in the make process Edit the CMakeLists.txt

sublime CMakeLists.txt

Find the lines for pcl_vlp_viewer.cpp, copy/paste, and change pcl to wasifs Then cd back to the PCL root directory and make Use the -j8 flag if you have a GPU to avoid waiting for an hour

$cd ../../
$make -j8

cd into the bin and you will see your executable

$cd bin/
$ls
$./wasifs_vlp_viewer

This method can be used for making any custom PCL program!