PCL can't find header file - ros

Question

/home/ubuntu/emvs_ws/src/rpg_emvs/mapper_emvs/src/realtime.cpp:25:62: fatal error: pcl/registration/impl/incremental_registration.hpp: No such file or directory
compilation terminated.
rpg_emvs/mapper_emvs/CMakeFiles/realtime_emvs.dir/build.make:62: recipe for target 'rpg_emvs/mapper_emvs/CMakeFiles/realtime_emvs.dir/src/realtime.cpp.o' failed
make[2]: *** [rpg_emvs/mapper_emvs/CMakeFiles/realtime_emvs.dir/src/realtime.cpp.o] Error 1
I'm getting this error after catkin_make
Theses are the includes in realtime.cpp
#include <pcl/registration/incremental_registration.h>
#include <pcl/registration/icp.h>
CMakeLists.txt file
project(mapper_emvs)
cmake_minimum_required(VERSION 2.8.3)
find_package(catkin_simple REQUIRED)
catkin_simple(ALL_DEPS_REQUIRED)
set(CMAKE_BUILD_TYPE RelWithDebInfo) # Release, RelWithDebInfo
set(CMAKE_CXX_FLAGS "-O3 -fopenmp -std=c++11 ${CMAKE_CXX_FLAGS}")
## Generate dynamic reconfigure parameters in the 'cfg' folder
##generate_dynamic_reconfigure_options(
## cfg/EMVSCfg.cfg
##)
set(HEADERS
include/mapper_emvs/mapper_emvs.hpp
include/mapper_emvs/data_loading.hpp
include/mapper_emvs/depth_vector.hpp
include/mapper_emvs/trajectory.hpp
include/mapper_emvs/geometry_utils.hpp
include/mapper_emvs/median_filtering.hpp
)
set(SOURCES
src/mapper_emvs.cpp
src/data_loading.cpp
src/median_filtering.cpp
)
option(DEFINE_USE_INVERSE_DEPTH "Use linear spacing in inverse depth (if OFF, will use linear spacing in depth)" ON)
if(DEFINE_USE_INVERSE_DEPTH)
add_definitions(-DUSE_INVERSE_DEPTH)
endif(DEFINE_USE_INVERSE_DEPTH)
cs_add_library(${PROJECT_NAME} ${SOURCES} ${HEADERS})
# Executables
################################################################################
cs_add_executable(run_emvs src/main.cpp)
target_link_libraries(run_emvs ${PROJECT_NAME})
cs_add_executable(realtime_emvs src/realtime.cpp)
add_dependencies(realtime_emvs ${PROJECT_NAME}_gencfg)
target_link_libraries(realtime_emvs ${PROJECT_NAME})
################################################################################
cs_install()
cs_export()
Note that I did Catkin_make not catkin build, I don;t know if this makes a difference.
I'm asked to add more details, so please ignore this line :)

Answer 1

You need to add PCL library in your CMakeLists.txt file as follows:
project(mapper_emvs)
cmake_minimum_required(VERSION 2.8.3)
find_package(catkin_simple REQUIRED)
# Adding PCL lib
find_package(PCL REQUIRED)
# Setting include, lib directories and definitions
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS} )
add_definitions(${PCL_DEFINITIONS} )
catkin_simple(ALL_DEPS_REQUIRED)
set(CMAKE_BUILD_TYPE RelWithDebInfo) # Release, RelWithDebInfo
set(CMAKE_CXX_FLAGS "-O3 -fopenmp -std=c++11 ${CMAKE_CXX_FLAGS}")
## Generate dynamic reconfigure parameters in the 'cfg' folder
##generate_dynamic_reconfigure_options(
## cfg/EMVSCfg.cfg
##)
set(HEADERS
include/mapper_emvs/mapper_emvs.hpp
include/mapper_emvs/data_loading.hpp
include/mapper_emvs/depth_vector.hpp
include/mapper_emvs/trajectory.hpp
include/mapper_emvs/geometry_utils.hpp
include/mapper_emvs/median_filtering.hpp
)
set(SOURCES
src/mapper_emvs.cpp
src/data_loading.cpp
src/median_filtering.cpp
)
option(DEFINE_USE_INVERSE_DEPTH "Use linear spacing in inverse depth (if OFF, will use linear spacing in depth)" ON)
if(DEFINE_USE_INVERSE_DEPTH)
add_definitions(-DUSE_INVERSE_DEPTH)
endif(DEFINE_USE_INVERSE_DEPTH)
cs_add_library(${PROJECT_NAME} ${SOURCES} ${HEADERS})
# Executables
################################################################################
cs_add_executable(run_emvs src/main.cpp)
target_link_libraries(run_emvs ${PROJECT_NAME} ${PCL_LIBRARIES})
cs_add_executable(realtime_emvs src/realtime.cpp)
add_dependencies(realtime_emvs ${PROJECT_NAME}_gencfg)
target_link_libraries(realtime_emvs ${PROJECT_NAME} ${PCL_LIBRARIES})
################################################################################
cs_install()
cs_export()
Note: Hope you installed PCL lib. Besides,
I added ${PCL_LIBRARIES} into target_link_libraries. I hope it will work this way, if you are getting some errors, try adding ${PCL_LIBRARIES} into cs_add_library(${PROJECT_NAME} ${SOURCES} ${HEADERS} ${PCL_LIBRARIES}). Please let us know if get errors after applying these changes.