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Hey,

Your guide saved me days (weeks?) of fooling around getting rgbdslam to compile, thanks!

One small note, I was getting grief from rosmake until I changed hasValidXYZ to be:

template <typename PointType>
inline bool hasValidXYZ(const PointType& p){
      return std::isfinite(p.x) && std::isfinite(p.y) && std::isfinite(p.z);
};

After that, all was well. Now I have to test it!

Thanks again,

Cameron