Hi,
Very grateful for your contributions to the community. But could you make it clear which pcl version you are using? I got errors when compiling your codes, mainly the no matching function for call to pcl::VoxelGrid and pcl::KdTreeFLANN functions. I guess it might be because the pcl version incompatibility. Note that I am using pcl-1.11
I attach my error logs as follows, many thanks!
peter@peter-ThinkStation-P330:~/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM$ catkin build mloam
Profile: default
Extending: [cached] /opt/ros/melodic
Workspace: /home/peter/HDD2T/workspace/1_opensource/mloam_ws
Build Space: [exists] /home/peter/HDD2T/workspace/1_opensource/mloam_ws/build
Devel Space: [exists] /home/peter/HDD2T/workspace/1_opensource/mloam_ws/devel
Install Space: [unused] /home/peter/HDD2T/workspace/1_opensource/mloam_ws/install
Log Space: [exists] /home/peter/HDD2T/workspace/1_opensource/mloam_ws/logs
Source Space: [exists] /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src
DESTDIR: [unused] None
Devel Space Layout: linked
Install Space Layout: None
Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
Whitelisted Packages: None
Blacklisted Packages: None
Workspace configuration appears valid.
[build] Found '8' packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> mloam_common
Starting >>> mloam_msgs
Starting >>> mloam_pcl
Finished <<< mloam_msgs [ 0.1 seconds ]
Finished <<< mloam_common [ 0.1 seconds ]
Finished <<< mloam_pcl [ 0.1 seconds ]
Starting >>> mloam
Errors << mloam:make /home/peter/HDD2T/workspace/1_opensource/mloam_ws/logs/mloam/build.make.002.log
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/featureExtract/feature_extract.cpp: In member function ‘void FeatureExtract::extractCloud(const PointICloud&, const ScanInfo&, cloudFeature&)’:
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/featureExtract/feature_extract.cpp:125:73: error: conversion from ‘boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type {aka boost::shared_ptr<pcl::PointCloudpcl::PointXYZI >}’ to non-scalar type ‘const Ptr {aka const std::shared_ptr<pcl::PointCloudpcl::PointXYZI >}’ requested
const PointICloud::Ptr laser_cloud = boost::make_shared(laser_cloud_in);
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/lidarTracker/lidar_tracker.cpp: In member function ‘Pose LidarTracker::trackCloud(const cloudFeature&, const cloudFeature&, const Pose&)’:
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/lidarTracker/lidar_tracker.cpp:31:72: error: conversion from ‘boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type {aka boost::shared_ptr<pcl::PointCloudpcl::PointXYZI >}’ to non-scalar type ‘common::PointICloudPtr {aka std::shared_ptr<pcl::PointCloudpcl::PointXYZI >}’ requested
PointICloudPtr corner_points_last = boost::make_shared(prev_cloud_feature.find("corner_points_less_sharp")->second);
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/lidarTracker/lidar_tracker.cpp:32:70:** error:** conversion from ‘boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type {aka boost::shared_ptr<pcl::PointCloudpcl::PointXYZI >}’ to non-scalar type ‘common::PointICloudPtr {aka std::shared_ptr<pcl::PointCloudpcl::PointXYZI >}’ requested
PointICloudPtr surf_points_last = boost::make_shared(prev_cloud_feature.find("surf_points_less_flat")->second);
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/lidarTracker/lidar_tracker.cpp:37:73: error: conversion from ‘boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type {aka boost::shared_ptr<pcl::PointCloudpcl::PointXYZI >}’ to non-scalar type ‘common::PointICloudPtr {aka std::shared_ptr<pcl::PointCloudpcl::PointXYZI >}’ requested
PointICloudPtr corner_points_sharp = boost::make_shared(cur_cloud_feature.find("corner_points_sharp")->second);
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/lidarTracker/lidar_tracker.cpp:38:70: error: conversion from ‘boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type {aka boost::shared_ptr<pcl::PointCloudpcl::PointXYZI >}’ to non-scalar type ‘common::PointICloudPtr {aka std::shared_ptr<pcl::PointCloudpcl::PointXYZI >}’ requested
PointICloudPtr surf_points_flat = boost::make_shared(cur_cloud_feature.find("surf_points_flat")->second);
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp: In member function ‘void Estimator::process()’:
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:488:94:** error**: no matching function for call to ‘pcl::VoxelGridpcl::PointXYZI::setInputCloud(boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type)’
down_size_filter_corner_.setInputCloud(boost::make_shared(corner_points));
^
In file included from /usr/local/include/pcl-1.11/pcl/correspondence.h:45:0,
from /usr/local/include/pcl-1.11/pcl/cloud_iterator.h:43,
from /usr/local/include/pcl-1.11/pcl/common/centroid.h:46,
from /usr/local/include/pcl-1.11/pcl/common/transforms.h:44,
from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.h:36,
from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:14:
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note: candidate: void pcl::PCLBase::setInputCloud(const PointCloudConstPtr&) [with PointT = pcl::PointXYZI; pcl::PCLBase::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloudpcl::PointXYZI >]
setInputCloud (const PointCloudConstPtr &cloud);
^~~~~~~~~~~~~
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note: no known conversion for argument 1 from ‘boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type {aka boost::shared_ptr<pcl::PointCloudpcl::PointXYZI >}’ to ‘const PointCloudConstPtr& {aka const std::shared_ptr<const pcl::PointCloudpcl::PointXYZI >&}’
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:493:90: error: no matching function for call to ‘pcl::VoxelGridpcl::PointXYZI::setInputCloud(boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type)’
down_size_filter_surf_.setInputCloud(boost::make_shared(surf_points));
^
In file included from /usr/local/include/pcl-1.11/pcl/correspondence.h:45:0,
from /usr/local/include/pcl-1.11/pcl/cloud_iterator.h:43,
from /usr/local/include/pcl-1.11/pcl/common/centroid.h:46,
from /usr/local/include/pcl-1.11/pcl/common/transforms.h:44,
from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.h:36,
from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:14:
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note: candidate: void pcl::PCLBase::setInputCloud(const PointCloudConstPtr&) [with PointT = pcl::PointXYZI; pcl::PCLBase::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloudpcl::PointXYZI >]
setInputCloud (const PointCloudConstPtr &cloud);
^~~~~~~~~~~~~
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note: no known conversion for argument 1 from ‘boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type {aka boost::shared_ptr<pcl::PointCloudpcl::PointXYZI >}’ to ‘const PointCloudConstPtr& {aka const std::shared_ptr<const pcl::PointCloudpcl::PointXYZI >&}’
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp: In member function ‘void Estimator::buildCalibMap()’:
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:1106:98: error: no matching function for call to ‘pcl::VoxelGridpcl::PointXYZI::setInputCloud(boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type)’
down_size_filter.setInputCloud(boost::make_shared(surf_points_local_map_[n]));
^
In file included from /usr/local/include/pcl-1.11/pcl/correspondence.h:45:0,
from /usr/local/include/pcl-1.11/pcl/cloud_iterator.h:43,
from /usr/local/include/pcl-1.11/pcl/common/centroid.h:46,
from /usr/local/include/pcl-1.11/pcl/common/transforms.h:44,
from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.h:36,
from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:14:
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note: candidate: void pcl::PCLBase::setInputCloud(const PointCloudConstPtr&) [with PointT = pcl::PointXYZI; pcl::PCLBase::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloudpcl::PointXYZI >]
setInputCloud (const PointCloudConstPtr &cloud);
^~~~~~~~~~~~~
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note: no known conversion for argument 1 from ‘boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type {aka boost::shared_ptr<pcl::PointCloudpcl::PointXYZI >}’ to ‘const PointCloudConstPtr& {aka const std::shared_ptr<const pcl::PointCloudpcl::PointXYZI >&}’
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:1108:100: error: no matching function for call to ‘pcl::VoxelGridpcl::PointXYZI::setInputCloud(boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type)’
down_size_filter.setInputCloud(boost::make_shared(corner_points_local_map_[n]));
^
In file included from /usr/local/include/pcl-1.11/pcl/correspondence.h:45:0,
from /usr/local/include/pcl-1.11/pcl/cloud_iterator.h:43,
from /usr/local/include/pcl-1.11/pcl/common/centroid.h:46,
from /usr/local/include/pcl-1.11/pcl/common/transforms.h:44,
from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.h:36,
from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:14:
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note: candidate: void pcl::PCLBase::setInputCloud(const PointCloudConstPtr&) [with PointT = pcl::PointXYZI; pcl::PCLBase::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloudpcl::PointXYZI >]
setInputCloud (const PointCloudConstPtr &cloud);
^~~~~~~~~~~~~
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note: no known conversion for argument 1 from ‘boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type {aka boost::shared_ptr<pcl::PointCloudpcl::PointXYZI >}’ to ‘const PointCloudConstPtr& {aka const std::shared_ptr<const pcl::PointCloudpcl::PointXYZI >&}’
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:1129:120:** error:** no matching function for call to ‘pcl::KdTreeFLANNpcl::PointXYZI::setInputCloud(boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type)’
kdtree_surf_points_local_map->setInputCloud(boost::make_shared(surf_points_local_map_filtered_[n]));
^
In file included from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/parameters.h:31:0,
from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.h:45,
from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:14:
/usr/local/include/pcl-1.11/pcl/kdtree/kdtree_flann.h:144:7: note: candidate: void pcl::KdTreeFLANN<PointT, Dist>::setInputCloud(const PointCloudConstPtr&, const IndicesConstPtr&) [with PointT = pcl::PointXYZI; Dist = flann::L2_Simple; pcl::KdTreeFLANN<PointT, Dist>::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloudpcl::PointXYZI >; pcl::KdTreeFLANN<PointT, Dist>::IndicesConstPtr = std::shared_ptr<const std::vector >]
setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices = IndicesConstPtr ()) override;
^~~~~~~~~~~~~
/usr/local/include/pcl-1.11/pcl/kdtree/kdtree_flann.h:144:7: note: no known conversion for argument 1 from ‘boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type {aka boost::shared_ptr<pcl::PointCloudpcl::PointXYZI >}’ to ‘const PointCloudConstPtr& {aka const std::shared_ptr<const pcl::PointCloudpcl::PointXYZI >&}’
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:1130:124: error: no matching function for call to ‘pcl::KdTreeFLANNpcl::PointXYZI::setInputCloud(boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type)’
kdtree_corner_points_local_map->setInputCloud(boost::make_shared(corner_points_local_map_filtered_[n]));
^
In file included from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/parameters.h:31:0,
from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.h:45,
from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:14:
/usr/local/include/pcl-1.11/pcl/kdtree/kdtree_flann.h:144:7: note: candidate: void pcl::KdTreeFLANN<PointT, Dist>::setInputCloud(const PointCloudConstPtr&, const IndicesConstPtr&) [with PointT = pcl::PointXYZI; Dist = flann::L2_Simple; pcl::KdTreeFLANN<PointT, Dist>::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloudpcl::PointXYZI >; pcl::KdTreeFLANN<PointT, Dist>::IndicesConstPtr = std::shared_ptr<const std::vector >]
setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices = IndicesConstPtr ()) override;
^~~~~~~~~~~~~
/usr/local/include/pcl-1.11/pcl/kdtree/kdtree_flann.h:144:7: note: no known conversion for argument 1 from ‘boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type {aka boost::shared_ptr<pcl::PointCloudpcl::PointXYZI >}’ to ‘const PointCloudConstPtr& {aka const std::shared_ptr<const pcl::PointCloudpcl::PointXYZI >&}’
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp: In member function ‘void Estimator::buildLocalMap()’:
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:1198:98: **error: **no matching function for call to ‘pcl::VoxelGridpcl::PointXYZI::setInputCloud(boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type)’
down_size_filter.setInputCloud(boost::make_shared(surf_points_local_map_[n]));
^
In file included from /usr/local/include/pcl-1.11/pcl/correspondence.h:45:0,
from /usr/local/include/pcl-1.11/pcl/cloud_iterator.h:43,
from /usr/local/include/pcl-1.11/pcl/common/centroid.h:46,
from /usr/local/include/pcl-1.11/pcl/common/transforms.h:44,
from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.h:36,
from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:14:
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note: candidate: void pcl::PCLBase::setInputCloud(const PointCloudConstPtr&) [with PointT = pcl::PointXYZI; pcl::PCLBase::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloudpcl::PointXYZI >]
setInputCloud (const PointCloudConstPtr &cloud);
^~~~~~~~~~~~~
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note: no known conversion for argument 1 from ‘boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type {aka boost::shared_ptr<pcl::PointCloudpcl::PointXYZI >}’ to ‘const PointCloudConstPtr& {aka const std::shared_ptr<const pcl::PointCloudpcl::PointXYZI >&}’
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:1202:100: **error: **no matching function for call to ‘pcl::VoxelGridpcl::PointXYZI::setInputCloud(boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type)’
down_size_filter.setInputCloud(boost::make_shared(corner_points_local_map_[n]));
^
In file included from /usr/local/include/pcl-1.11/pcl/correspondence.h:45:0,
from /usr/local/include/pcl-1.11/pcl/cloud_iterator.h:43,
from /usr/local/include/pcl-1.11/pcl/common/centroid.h:46,
from /usr/local/include/pcl-1.11/pcl/common/transforms.h:44,
from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.h:36,
from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:14:
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note: candidate: void pcl::PCLBase::setInputCloud(const PointCloudConstPtr&) [with PointT = pcl::PointXYZI; pcl::PCLBase::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloudpcl::PointXYZI >]
setInputCloud (const PointCloudConstPtr &cloud);
^~~~~~~~~~~~~
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note: no known conversion for argument 1 from ‘boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type {aka boost::shared_ptr<pcl::PointCloudpcl::PointXYZI >}’ to ‘const PointCloudConstPtr& {aka const std::shared_ptr<const pcl::PointCloudpcl::PointXYZI >&}’
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:1231:120: **error: **no matching function for call to ‘pcl::KdTreeFLANNpcl::PointXYZI::setInputCloud(boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type)’
kdtree_surf_points_local_map->setInputCloud(boost::make_shared(surf_points_local_map_filtered_[n]));
^
In file included from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/parameters.h:31:0,
from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.h:45,
from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:14:
/usr/local/include/pcl-1.11/pcl/kdtree/kdtree_flann.h:144:7: note: candidate: void pcl::KdTreeFLANN<PointT, Dist>::setInputCloud(const PointCloudConstPtr&, const IndicesConstPtr&) [with PointT = pcl::PointXYZI; Dist = flann::L2_Simple; pcl::KdTreeFLANN<PointT, Dist>::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloudpcl::PointXYZI >; pcl::KdTreeFLANN<PointT, Dist>::IndicesConstPtr = std::shared_ptr<const std::vector >]
setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices = IndicesConstPtr ()) override;
^~~~~~~~~~~~~
/usr/local/include/pcl-1.11/pcl/kdtree/kdtree_flann.h:144:7: note: no known conversion for argument 1 from ‘boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type {aka boost::shared_ptr<pcl::PointCloudpcl::PointXYZI >}’ to ‘const PointCloudConstPtr& {aka const std::shared_ptr<const pcl::PointCloudpcl::PointXYZI >&}’
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:1233:124: **error: **no matching function for call to ‘pcl::KdTreeFLANNpcl::PointXYZI::setInputCloud(boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type)’
kdtree_corner_points_local_map->setInputCloud(boost::make_shared(corner_points_local_map_filtered_[n]));
^
In file included from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/parameters.h:31:0,
from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.h:45,
from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:14:
/usr/local/include/pcl-1.11/pcl/kdtree/kdtree_flann.h:144:7: note: candidate: void pcl::KdTreeFLANN<PointT, Dist>::setInputCloud(const PointCloudConstPtr&, const IndicesConstPtr&) [with PointT = pcl::PointXYZI; Dist = flann::L2_Simple; pcl::KdTreeFLANN<PointT, Dist>::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloudpcl::PointXYZI >; pcl::KdTreeFLANN<PointT, Dist>::IndicesConstPtr = std::shared_ptr<const std::vector >]
setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices = IndicesConstPtr ()) override;
^~~~~~~~~~~~~
/usr/local/include/pcl-1.11/pcl/kdtree/kdtree_flann.h:144:7: note: no known conversion for argument 1 from ‘boost::detail::sp_if_not_array<pcl::PointCloudpcl::PointXYZI >::type {aka boost::shared_ptr<pcl::PointCloudpcl::PointXYZI >}’ to ‘const PointCloudConstPtr& {aka const std::shared_ptr<const pcl::PointCloudpcl::PointXYZI >&}’
make[2]: *** [CMakeFiles/mloam_lib.dir/src/featureExtract/feature_extract.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/mloam_lib.dir/src/lidarTracker/lidar_tracker.cpp.o] Error 1
make[2]: *** [CMakeFiles/mloam_lib.dir/src/estimator/estimator.cpp.o] Error 1
make[1]: *** [CMakeFiles/mloam_lib.dir/all] Error 2
make: *** [all] Error 2
cd /home/peter/HDD2T/workspace/1_opensource/mloam_ws/build/mloam; catkin build --get-env mloam | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
.....................................................................................................................
Failed << mloam:make [ Exited with code 2 ]
Failed <<< mloam [ 48.7 seconds ]
[build] Summary: 3 of 4 packages succeeded.
[build] Ignored: 4 packages were skipped or are blacklisted.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: 1 packages failed.
[build] Runtime: 48.9 seconds total.