[ros-users] Problem using pcl y eigen
Nicolás Alvarez Picco
nicolasapicco at hotmail.com
Thu Dec 2 15:56:27 UTC 2010
Radu,
When I try to compile this:
int
ROS_Link::samplePointsOnLine (pcl::PointXYZ p1, pcl::PointXYZ p2, double
res, pcl::PointCloud<pcl::PointXYZ> &pts){
Eigen3::Vector4f dp = p2.getVector4fMap () - p1.getVector4fMap ();
// Compute the distance between the two points
double dist = dp.norm ();
dp.normalize ();
Eigen3::Vector4f axis_x (1.0, 0.0, 0.0), axis_y (0.0, 1.0, 0.0), axis_z (0.0, 0.0, 1.0);
// Compute the axis increments
double dx = res * dp.dot (axis_x);
double dy = res * dp.dot (axis_y);
double dz = res * dp.dot (axis_z);
int nr_pts = dist / res;
if (nr_pts < 1)
return (0);
pts.points.resize (nr_pts);
pts.width = nr_pts; pts.height = 1;
for (int m = 0; m < nr_pts; ++m)
{
pts.points[m].x = (m + 1) * dx + p1.x;
pts.points[m].y = (m + 1) * dy + p1.y;
pts.points[m].z = (m + 1) * dz + p1.z;
}
return (nr_pts);
}
I have this error:
from /home/robot/src/autnavarc/ros-ana-pkg/han_Planner/src/ROS_Link.cpp:1:
/home/robot/src/ros/stacks/point_cloud_perception/eigen3/include/Eigen3/src/Core/Matrix.h:
In constructor ‘Eigen3::Matrix<_Scalar, _Rows, _Cols, _Options,
_MaxRows, _MaxCols>::Matrix(const typename
Eigen3::ei_traits<Eigen3::Matrix<_Scalar, _Rows, _Cols, _Options,
_MaxRows, _MaxCols> >::Scalar&, const typename
Eigen3::ei_traits<Eigen3::Matrix<_Scalar, _Rows, _Cols, _Options,
_MaxRows, _MaxCols> >::Scalar&, const typename
Eigen3::ei_traits<Eigen3::Matrix<_Scalar, _Rows, _Cols, _Options,
_MaxRows, _MaxCols> >::Scalar&) [with _Scalar = float, int
_Rows = 4, int _Cols = 1, int _Options = 0, int _MaxRows = 4, int
_MaxCols = 1]’:
/home/robot/src/autnavarc/ros-ana-pkg/han_Planner/src/ROS_Link.cpp:240: instantiated from here
/home/robot/src/ros/stacks/point_cloud_perception/eigen3/include/Eigen3/src/Core/Matrix.h:261:
error: ‘THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE’ is not a
member of ‘Eigen3::ei_static_assert<false>’
make[3]: *** [CMakeFiles/LaserScanToPointCloud.dir/src/ROS_Link.o] Error 1
make[3]: Leaving directory `/home/robot/src/autnavarc/ros-ana-pkg/han_Planner/build'
make[2]: *** [CMakeFiles/LaserScanToPointCloud.dir/all] Error 2
make[2]: Leaving directory `/home/robot/src/autnavarc/ros-ana-pkg/han_Planner/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/robot/src/autnavarc/ros-ana-pkg/han_Planner/build'
I don't know what is wrong with the size of the vector, any idea??
Thanks
Nicolas
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