compile error with floam

[Freeecode]

Hi! Thanks for sharing the great work! However, there are some problems in the repository, the definitions of feature extraction in 'laserProcessingClass.h' are different from the realizations of feature extraction in 'laserProcessingClass.cpp'

[DarrenWong]

first of all, the performance is quite good. It works after syncing the header in the iscloam, https://github.com/wh200720041/iscloam/blob/master/include/laserProcessingClass.h @wh200720041 might be you need to sync the header file for the compile error

        LaserProcessingClass();
        void init(lidar::Lidar lidar_param_in);
-       void preFiltering(const pcl::PointCloud<pcl::PointXYZI>::Ptr pc_in, pcl::PointCloud<pcl::PointXYZI>::Ptr& pc_out);
-       void featureExtraction(const pcl::PointCloud<pcl::PointXYZI>::Ptr& pc_in, pcl::PointCloud<pcl::PointXYZI>::Ptr& pc_out_sharp, pcl::PointCloud<pcl::PointXYZI>::Ptr& pc_out_lessSharp, pcl::PointCloud<pcl::PointXYZI>::Ptr& pc_out_flat, pcl::PointCloud<pcl::PointXYZI>::Ptr& pc_out_lessFlat);
-       void featureExtractionFromSector(const pcl::PointCloud<pcl::PointXYZI>::Ptr& pc_in, std::vector<Double2d>& cloudCurvature, pcl::PointCloud<pcl::PointXYZI>::Ptr& pc_edge_sharp, pcl::PointCloud<pcl::PointXYZI>::Ptr& pc_edge_lessSharp, pcl::PointCloud<pcl::PointXYZI>::Ptr& pc_surf_flat, pcl::PointCloud<pcl::PointXYZI>::Ptr& pc_surf_lessFlat);   
+       void featureExtraction(const pcl::PointCloud<pcl::PointXYZI>::Ptr& pc_in, pcl::PointCloud<pcl::PointXYZI>::Ptr& pc_out_edge, pcl::PointCloud<pcl::PointXYZI>::Ptr& pc_out_surf);
+       void featureExtractionFromSector(const pcl::PointCloud<pcl::PointXYZI>::Ptr& pc_in, std::vector<Double2d>& cloudCurvature, pcl::PointCloud<pcl::PointXYZI>::Ptr& pc_out_edge, pcl::PointCloud<pcl::PointXYZI>::Ptr& pc_out_surf);   
    private:
        lidar::Lidar lidar_param;
-
-       pcl::CropBox<pcl::PointXYZI> closePointFilter;
-       pcl::CropBox<pcl::PointXYZI> farPointFilter;
-       pcl::VoxelGrid<pcl::PointXYZI> downSizeFilter;

[wh200720041]

Hi!

Thanks for posting question here, and @DarrenWong his answer is right.

I have updated code, you may try to compile again.

Thanks Han