迭代最近点算法的编译过程中面临错误

Question

I am trying to compile the program from this site.

( http://pointclouds.org/documentation/tutorials/iterative_closest_point.php )!

But during compilation i faced the following error.

'pcl::Registration<PointSource,PointTarget,Scalar>::setInputCloud' : cannot convert parameter 1 from 'boost::shared_ptr<T>' to 'const boost::shared_ptr<T> &' \\sample\\kinect2_grabber.h 424 1 Sample

the code which got the error is as follows:-

icp.setInputCloud (cloud);
icp.setInputTarget (cloud);

I have declared this cloud inside the function convertRGBDepthToPointXYZRGB like this

pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud( new pcl::PointCloud<pcl::PointXYZRGB>() );

I don't know how to rectify the above error.Please somebody help me to solve the above error.

Thanks

Answer 1

You have templated the IterativeClosestPoint object on type pcl::PointXYZ for both template arguments, so that the functons setInputCloud and setInputTarget , whose argument types are determined by the class template, expect an object of pcl::PointXYZ as their argument. However, you are trying to pass pcl::PointXYZRGB to the object. Instead, template the object on pcl::PointXYZRGB for both source and target.

API for the IterativeClosestPoint class:

http://docs.pointclouds.org/1.7.1/classpcl_1_1_iterative_closest_point.html