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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