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Hi, Few changes to be done in the following files to make it work

a)CMakeLists.txt should have the following lines in this place just above the rosbuild_genmsg().

#Eigen required    
find_package(Eigen REQUIRED)
include_directories(${EIGEN_INCLUDE_DIRS})

This solves the above Eigen/StdVector issue.

b)segment_object_in_hand.cpp should have the following changes done to be done search for

typedef pcl::KdTree<Point>::Ptr KdTreePtr;

and change it to search namespace as the unstable version supports it

typedef pcl::search::KdTree<Point>::Ptr KdTreePtr;

Hence change the below line to

clusters_tree_ = boost::make_shared<pcl::KdTreeFLANN<Point> >();

to

clusters_tree_ = boost::make_shared<pcl::search::KdTree<Point> >();

c)Finally do similar changes to the tabletop_segmentation.cpp

change

typedef pcl::KdTree<Point>::Ptr KdTreePtr;

to

typedef pcl::search::KdTree<Point>::Ptr KdTreePtr;

and change

normals_tree_ = boost::make_shared<pcl::KdTreeFLANN<Point> >();
clusters_tree_ = boost::make_shared<pcl::KdTreeFLANN<Point> >();

to

normals_tree_ = boost::make_shared<pcl::search::KdTree<Point> >();
clusters_tree_ = boost::make_shared<pcl::search::KdTree<Point> >();

Now compile the whole package and hopefully it should get compiled without any error. :)

Hope this helps!

Thanks, Karthik