[ros-users] Linking problems with pcl

[sabrinakliegl at innok.de]

Hi Lorenz, hi Radu,

thank you for your answers.

I am using revision 32800 of the point_cloud_perception stack, which  
we checked out yesterday after the new release.

I even tried a very minimalistic example, which now is similar to the  
example in test/test_io.cpp
void cloudCallback(const sensor_msgs::PointCloud2ConstPtr& cloud)
{
	sensor_msgs::PointCloud2 cloud_test;
	Eigen3::MatrixXf points;
	pcl::getPointCloudAsEigen (cloud_test, points);
}

But even here I get the mentioned linking error.

As a workaround I copied the function getPointCloudAsEigen into my own  
source file, which seems to work fine.

Regards,
Sabrina

Zitat von Radu Bogdan Rusu <rusu at willowgarage.com>:

> 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 at 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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