Sabrina, you can look at test/test_io.cpp in PCL for an example on how getPointCloudAsEigen is used, in case you haven't 
figured out what the error was.

Cheers,
Radu.


On 09/21/2010 06:48 AM, sabrinakliegl@innok.de wrote:
> Hi everybody,
>
> I get this error:
> CMakeFiles/geometry_based_obstacle_detector.dir/src/geometry_based_obstacle_detector.o: In function `cloudCallback(boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator<void>  >  const>
> const&)':
> /home/skliegl/GETbot/svn/ros/pcl_tools/src/geometry_based_obstacle_detector.cpp:19: undefined reference to `pcl::getPointCloudAsEigen(sensor_msgs::PointCloud2_<std::allocator<void>  >  const&, Eigen3::Matrix<float, -1, -1, 0, -1,
> -1>&)'
>
> The mentioned function is:
> void cloudCallback(const sensor_msgs::PointCloud2ConstPtr&  cloud)
> {
> 	Eigen3::MatrixXf points;
> 	pcl::getPointCloudAsEigen (*cloud, points);
>
> }
>
> The corresponding part of the CMakeLists.txt:
> rosbuild_add_executable( geometry_based_obstacle_detector
> src/geometry_based_obstacle_detector.cpp)
> target_link_libraries(geometry_based_obstacle_detector pcl_io)
>
> Any ideas?
>
> Thank you,
> Sabrina
>
>
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