PCL Tutorial doesn't show anything

edit

Hi,

I was following the tutorial of PCL with ROS here, the 4.1 program, I got everything compiled, and I run my program, but I get this error:

home/david/ros_workspace/another_mypcltut/src/run_test.cpp:25:25: error: no matching function for call to ‘pcl::VoxelGrid<sensor_msgs::pointcloud2_<std::allocator<void> > >::setInputCloud(pcl::PointCloud<pcl::pointxyzrgb>&)’

This is the code I've used:

//pcl::PointCloud< pcl::PointXYZRGB> PC;
//pcl::PointCloud< pcl::PointXYZRGB> PC_filtered;
pcl::PointCloud< pcl::PointXYZ> PC;
pcl::PointCloud< pcl::PointXYZ> PC_filtered;
 
void 
cloud_cb (const sensor_msgs::PointCloud2ConstPtr& cloud)
{
  pcl::fromROSMsg(*cloud, PC); //Now you can process this PC using the pcl functions
  sensor_msgs::PointCloud2 cloud_filtered;
// Perform the actual filtering
   pcl::VoxelGrid< sensor_msgs::PointCloud2> sor ;
   sor.setInputCloud (PC);
   //sor.setInputCloud (PC);
   sor.setLeafSize (0.01, 0.01, 0.01);
   sor.filter (PC_filtered);
 
//Convert the pcl cloud back to rosmsg
  try{
  pcl::toROSMsg(*PC_filtered, cloud_filtered);}
  catch(std::runtime_error e){
  ROS_ERROR_STREAM("Error in converting cloud to image message: "<< e.what());}
 
// Publish the data
  pub.publish (cloud_filtered);
} 

Though, browsing for some programs that does compile, to have an idea, I found this program which it does compile (it's not related to the first program, it's a different I have found):

 void 
cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
{
  // Convert the sensor_msgs/PointCloud2 data to pcl/PointCloud
  pcl::PointCloud< pcl::PointXYZ> cloud;
  pcl::fromROSMsg (*input, cloud);
  pcl::ModelCoefficients coefficients;
  pcl::PointIndices inliers;
  // Create the segmentation object
  pcl::SACSegmentation< pcl::PointXYZ> seg;
  // Optional
  seg.setOptimizeCoefficients (true);
  // Mandatory
  seg.setModelType (pcl::SACMODEL_PLANE);
  seg.setMethodType (pcl::SAC_RANSAC);
  seg.setDistanceThreshold (0.01);
 
seg.setInputCloud (cloud.makeShared ());
  seg.segment (inliers, coefficients); 

  // Publish the model coefficients
  pub.publish (coefficients);
}

The part I found interesting was this line:

 seg.setInputCloud (cloud.makeShared ()) 

In which both functions:

setInputCloud (const PointCloudConstPtr &cloud)

Have as argument a ptr, and the 'makeShared()' function returns a shared pointer to the copy of the cloud. However this only work in the second program, when I run with the function mentioned in the first program, I get this error:

/home/david/ros_workspace/another_mypcltut/src/run_test.cpp:24:39: error: no matching function for call to ‘pcl::VoxelGrid<sensor_msgs::pointcloud2_<std::allocator<void> > >::setInputCloud(pcl::PointCloud<pcl::pointxyzrgb>::Ptr)’

Why is that happenning? :/ Thanks

P.S.1: Features of my software: * Ubuntu 11.04 * ROS Electric * PCL 1.5

P.S.2: Does this has anything to do with the fact I should have installed the PCL with ROS package (ros-unstable-perception-pcl) instead the one I have (ros-electric-perception-pcl)?? I have read a forum where a person asks for some errors while compiling using VoxelGrid (different than mines) and they suggested that they should have that one (dont know if that actually fixed the problem)