Build error in tuc-ros package in kinect_utils

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Package information available here: Autonomous corridor flight of a UAV using the kinect sensor

Please suggest some solution. I have attached the trace.

  -- Build files have been written to: /home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build
  cd build && make -l4
  make[1]: Entering directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  make[2]: Entering directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  make[3]: Entering directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  make[3]: Leaving directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  [  0%] Built target rospack_genmsg_libexe
  make[3]: Entering directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  make[3]: Leaving directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  [  0%] Built target rosbuild_premsgsrvgen
  make[3]: Entering directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  make[3]: Leaving directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  [ 14%] Built target ROSBUILD_genmsg_cpp
  make[3]: Entering directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  make[3]: Leaving directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  [ 28%] Built target ROSBUILD_genmsg_lisp
  make[3]: Entering directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  make[3]: Leaving directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  [ 50%] Built target ROSBUILD_genmsg_py
  make[3]: Entering directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  make[3]: Leaving directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  [ 50%] Built target rospack_genmsg
  make[3]: Entering directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  make[3]: Leaving directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  [ 50%] Built target rosbuild_precompile
  make[3]: Entering directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  make[3]: Leaving directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  make[3]: Entering directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  [ 57%] Building CXX object CMakeFiles/corridor_extraction.dir/src/corridor_extraction.o
  /home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/src/corridor_extraction.cpp:3:28: fatal error: libtimer/timer.h: No such file or directory
  compilation terminated.
  make[3]: *** [CMakeFiles/corridor_extraction.dir/src/corridor_extraction.o] Error 1
  make[3]: Leaving directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  make[2]: *** [CMakeFiles/corridor_extraction.dir/all] Error 2
  make[2]: Leaving directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
  make[1]: *** [all] Error 2
  make[1]: Leaving directory `/home/sid/ros/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package kinect_utils written to:
[ rosmake ]    /home/sid/.ros/rosmake/rosmake_output-20120314-215203/kinect_utils/build_output.log
[rosmake-0] Finished <<< kinect_utils [FAIL] [ 1.27 seconds ]                   
[ rosmake ] Halting due to failure in package kinect_utils. 
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:                                                            
[ rosmake ] Built 38 packages with 1 failures.                                  
[ rosmake ] Summary output to directory                                         
[ rosmake ] /home/sid/.ros/rosmake/rosmake_output-20120314-215203