Linker error: Normal calculation [closed]

asked 2013-04-23 16:24:22 -0600

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I get a linker error while I try to build following code. It seems code is ok. Linker error msg. is given below: error LNK2001: unresolved external symbol "protected: virtual void __cdecl pcl::NormalEstimation<struct pcl::pointxyz,struct="" pcl::normal="">::computeFeature(class pcl::PointCloud<struct pcl::normal=""> &)" (?computeFeature@?$NormalEstimation@UPointXYZ@pcl@@UNormal@2@@pcl@@MEAAXAEAV?$PointCloud@UNormal@pcl@@@2@@Z)

How can I resolve this?

#include <iostream>
    #include <pcl/io/pcd_io.h>
    #include <pcl/point_types.h>

    #include <pcl/features/normal_3d.h>

    int main (int argc, char** argv)
    {
      pcl::PointCloud<pcl::PointXYZ> cloud;

      // Fill in the cloud data
      cloud.width    = 5;
      cloud.height   = 1;
      cloud.is_dense = false;
      cloud.points.resize (cloud.width * cloud.height);

      for (size_t i = 0; i < cloud.points.size (); ++i)
      {
        cloud.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
        cloud.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
        cloud.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
      }

      pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);
      std::cerr << "Saved " << cloud.points.size () << " data points to test_pcd.pcd." << std::endl;

      for (size_t i = 0; i < cloud.points.size (); ++i)
        std::cerr << "    " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;


            ///////// Normal Calculation Start/////////////////

             // Create the normal estimation class, and pass the input dataset to it

              pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
              ne.setInputCloud (cloud.makeShared());

              // Create an empty kdtree representation, and pass it to the normal estimation object.
              // Its content will be filled inside the object, based on the given input dataset (as no other search surface is given).

              pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ> ());
              ne.setSearchMethod (tree);

              // Output datasets
              pcl::PointCloud<pcl::Normal>::Ptr cloud_normals (new pcl::PointCloud<pcl::Normal>);

              // Use all neighbors in a sphere of radius 3cm
              ne.setRadiusSearch (0.03);

              // Compute the features
              ne.compute (*cloud_normals);

              std::cerr << "Normal cloud size " << cloud_normals->points.size()<< std::endl;

              for (size_t i = 0; i < cloud_normals->points.size(); ++i)
                std::cerr << "    " << cloud_normals->points[i].normal_x << " " << cloud_normals->points[i].normal_y << " " << cloud_normals->points[i].normal_z << std::endl;


            ///////// Normal Calculation End//////////////////


      return (0);
    }
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Closed for the following reason question is not relevant or outdated by tfoote
close date 2016-06-16 19:28:02.476062

Comments

What does your CMakeLists.txt file look like?

Might be related to http://answers.ros.org/question/19649...

sloretz gravatar image sloretz  ( 2016-02-10 09:39:51 -0600 )edit