make have bug

[chenxiaocongAI]

error: cannot convert ‘const IndicesPtr’ {aka ‘const boost::shared_ptr<std::vector<int, std::allocator > >’} to ‘const IndicesConstPtr&’ {aka ‘const std::shared_ptr<const std::vector<int, std::allocator > >&’}
60 | this->m_kd_tree->setInputCloud(m_in_cloud, m_indices);
| ^~~~~~~~~
| |
| const IndicesPtr {aka const boost::shared_ptr<std::vector<int, std::allocator > >}
In file included from /home/chenxiaocong/cvte_work/slam/code/PCL-Normal-Estimation-2d/src/../include/Normal2dEstimation.h:14,
from /home/chenxiaocong/cvte_work/slam/code/PCL-Normal-Estimation-2d/src/Normal2dEstimation.cpp:5:
/usr/local/include/pcl-1.12/pcl/search/search.h:121:47: note: initializing argument 2 of ‘void pcl::search::Search::setInputCloud(const PointCloudConstPtr&, const IndicesConstPtr&) [with PointT = pcl::PointXYZ; pcl::search::Search::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloudpcl::PointXYZ >; pcl::search::Search::IndicesConstPtr = std::shared_ptr<const std::vector<int, std::allocator > >]’
121 | const IndicesConstPtr &indices = IndicesConstPtr ());
| ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/chenxiaocong/cvte_work/slam/code/PCL-Normal-Estimation-2d/src/Normal2dEstimation.cpp: In member function ‘void Normal2dEstimation::compute(const Ptr&) const’:
/home/chenxiaocong/cvte_work/slam/code/PCL-Normal-Estimation-2d/src/Normal2dEstimation.cpp:125:48: error: cannot convert ‘const IndicesPtr’ {aka ‘const boost::shared_ptr<std::vector<int, std::allocator > >’} to ‘const IndicesConstPtr&’ {aka ‘const std::shared_ptr<const std::vector<int, std::allocator > >&’}
125 | this->m_kd_tree->setInputCloud(m_in_cloud, m_indices);
| ^~~~~~~~~
| |
| const IndicesPtr {aka const boost::shared_ptr<std::vector<int, std::allocator > >}
In file included from /home/chenxiaocong/cvte_work/slam/code/PCL-Normal-Estimation-2d/src/../include/Normal2dEstimation.h:14,
from /home/chenxiaocong/cvte_work/slam/code/PCL-Normal-Estimation-2d/src/Normal2dEstimation.cpp:5:
/usr/local/include/pcl-1.12/pcl/search/search.h:121:47: note: initializing argument 2 of ‘void pcl::search::Search::setInputCloud(const PointCloudConstPtr&, const IndicesConstPtr&) [with PointT = pcl::PointXYZ; pcl::search::Search::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloudpcl::PointXYZ >; pcl::search::Search::IndicesConstPtr = std::shared_ptr<const std::vector<int, std::allocator > >]’
121 | const IndicesConstPtr &indices = IndicesConstPtr ());
| ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/chenxiaocong/cvte_work/slam/code/PCL-Normal-Estimation-2d/src/Normal2dEstimation.cpp: In member function ‘bool Normal2dEstimation::computePointNormal2d(boost::shared_ptr<std::vector<int, std::allocator > >&, Eigen::Vector3f&) const’:
/home/chenxiaocong/cvte_work/slam/code/PCL-Normal-Estimation-2d/src/Normal2dEstimation.cpp:268:27: error: no matching function for call to ‘pcl::PCApcl::PointXYZ::setIndices(boost::shared_ptr<std::vector<int, std::allocator > >&)’
268 | pca.setIndices(indices);

[Enderdead]

This code is quite old now so it is not compliant with new PCL version. For instance, new version no longer uses boost::shared_ptr.

One thing you can do is to change the local IndicesPtr type def (in file include/Normal2dEstimation.h:L26) from boost::shared_ptr<std::vector<int> > to const std::shared_ptr<const std::vector<int, std::allocator > >.

I'm not sure if this idea will work, but you can try it. Otherwise, trying to update the code with the new PCL API doesn't seem to be a big deal.

Good lucK