(OctreePointCloudChangeDetector運作錯誤)error: ‘Octree2BufBase’ was not declared in this scope #2564

問題：如題

代碼如下：

#include <pcl/point_cloud.h>
#include <pcl/octree/octree_pointcloud_changedetector.h>//這個檔案裡面缺少一個檔案如下

#include <iostream>
#include <vector>
#include <ctime>

using namespace std;

int
main (int argc, char** argv)
{
    srand ((unsigned int) time (NULL));

    // Octree resolution - side length of octree voxels
    float resolution = 32.0f;

    // Instantiate octree-based point cloud change detection class
    pcl::octree::OctreePointCloudChangeDetector<pcl::PointXYZ> octree(resolution);

    pcl::PointCloud<pcl::PointXYZ>::Ptr cloudA (new pcl::PointCloud<pcl::PointXYZ> );//定義A點雲

    // Generate pointcloud data for cloudA
    cloudA->width = 128;
    cloudA->height = 1;
    cloudA->points.resize (cloudA->width * cloudA->height);

    for (size_t i = 0; i < cloudA->points.size (); ++i)
    {
        cloudA->points[i].x = 64.0f * rand () / (RAND_MAX + 1.0f);
        cloudA->points[i].y = 64.0f * rand () / (RAND_MAX + 1.0f);
        cloudA->points[i].z = 64.0f * rand () / (RAND_MAX + 1.0f);
    }

    //output cloudA
    cout<<"cloudA: "<<endl;
    for(size_t i=0;i<cloudA->points.size();++i)
    {
        cout<<cloudA->points[i].x<<" , "<<cloudA->points[i].y<<" , "<<cloudA->points[i].z<<endl;
    }

    cout<<"----------------------------------------------------------------------------------------"<<endl;
    // Add points from cloudA to octree
    octree.setInputCloud (cloudA);
    octree.addPointsFromInputCloud ();

    // Switch octree buffers: This resets octree but keeps previous tree structure in memory.
    octree.switchBuffers ();

    pcl::PointCloud<pcl::PointXYZ>::Ptr cloudB (new pcl::PointCloud<pcl::PointXYZ> );

    // Generate pointcloud data for cloudB
    cloudB->width = 128;
    cloudB->height = 1;
    cloudB->points.resize (cloudB->width * cloudB->height);

    for (size_t i = 0; i < cloudB->points.size (); ++i)
    {
        cloudB->points[i].x = 64.0f * rand () / (RAND_MAX + 1.0f);
        cloudB->points[i].y = 64.0f * rand () / (RAND_MAX + 1.0f);
        cloudB->points[i].z = 64.0f * rand () / (RAND_MAX + 1.0f);
    }
    //output cloudB
    cout<<"cloudB: "<<endl;
    for(size_t i=0;i<cloudB->points.size();++i)
    {
        cout<<cloudB->points[i].x<<" , "<<cloudB->points[i].y<<" , "<<cloudB->points[i].z<<endl;
    }

    // Add points from cloudB to octree
    octree.setInputCloud (cloudB);
    octree.addPointsFromInputCloud ();

    std::vector<int> newPointIdxVector;

    // Get vector of point indices from octree voxels which did not exist in previous buffer
    octree.getPointIndicesFromNewVoxels (newPointIdxVector);

    // Output points
    cout<<"-------------------------------------------------------------------"<<endl;
    std::cout << "Output from getPointIndicesFromNewVoxels:" << std::endl;
    for (size_t i = 0; i < newPointIdxVector.size (); ++i)
        std::cout << i << "# Index:" << newPointIdxVector[i]
                  << "  Point:" << cloudB->points[newPointIdxVector[i]].x << " "
                  << cloudB->points[newPointIdxVector[i]].y << " "
                  << cloudB->points[newPointIdxVector[i]].z << std::endl;

}
           

解決：In usr/include/pcl-1.7/pcl/octree the header "octree_pointcloud_changedetector.h" misses an include of the header octree2buf_base.h

CHANGELOG (in "octree_pointcloud_changedetector.h") -> add 

#include "octree2buf_base.h"

參考：

https://github.com/PointCloudLibrary/pcl/issues/2564