problem with the conditional_euclidean_clustering

[YongWangNJ]

• Operating System and version: windows 7
• Compiler: VS2015
• PCL Version: 1.8.1

problem with the example "conditional_euclidean_clustering"

Eigen::Map point_a_normal = point_a.normal, point_b_normal = point_b.normal;

conditional_euclidean_clustering.cpp(24): error C2440: “初始化”: 无法从“const float [3]”转换为“Eigen::Map<const Eigen::Vector3f,0,Eigen::Stride<0,0>>”

[SergioRAgostinho]

@UnaNancyOwen can you give it a try?

It's this example.

[UnaNancyOwen]

Same compiler error occurs in #L24 and #L35.

Error	E0415	no suitable constructor exists to convert from "const float [3]" to "Eigen::Map<const Eigen::Vector3f, 0, Eigen::Stride<0, 0>>"	conditional_euclidean_clustering	c:\conditional_euclidean_clustering\conditional_euclidean_clustering.cpp	24
Error	E0415	no suitable constructor exists to convert from "const float [3]" to "Eigen::Map<const Eigen::Vector3f, 0, Eigen::Stride<0, 0>>"	conditional_euclidean_clustering	c:\conditional_euclidean_clustering\conditional_euclidean_clustering.cpp	24
Error	E0415	no suitable constructor exists to convert from "const float [3]" to "Eigen::Map<const Eigen::Vector3f, 0, Eigen::Stride<0, 0>>"	conditional_euclidean_clustering	c:\conditional_euclidean_clustering\conditional_euclidean_clustering.cpp	35
Error	E0415	no suitable constructor exists to convert from "const float [3]" to "Eigen::Map<const Eigen::Vector3f, 0, Eigen::Stride<0, 0>>"	conditional_euclidean_clustering	c:\conditional_euclidean_clustering\conditional_euclidean_clustering.cpp	35
Error	C2440	'initializing': cannot convert from 'const float [3]' to 'Eigen::Map<const Eigen::Vector3f,0,Eigen::Stride<0,0>>'		conditional_euclidean_clustering	C:\conditional_euclidean_clustering\conditional_euclidean_clustering.cpp	24
Error	C2440	'initializing': cannot convert from 'const float [3]' to 'Eigen::Map<const Eigen::Vector3f,0,Eigen::Stride<0,0>>'		conditional_euclidean_clustering	C:\conditional_euclidean_clustering\conditional_euclidean_clustering.cpp	24
Error	C2440	'initializing': cannot convert from 'const float [3]' to 'Eigen::Map<const Eigen::Vector3f,0,Eigen::Stride<0,0>>'		conditional_euclidean_clustering	c:\conditional_euclidean_clustering\conditional_euclidean_clustering.cpp	35
Error	C2440	'initializing': cannot convert from 'const float [3]' to 'Eigen::Map<const Eigen::Vector3f,0,Eigen::Stride<0,0>>'		conditional_euclidean_clustering	c:\conditional_euclidean_clustering\conditional_euclidean_clustering.cpp	35

If fix as follows, this example can build successfully.
(If you use PCL that installed using PCL All-in-one Installer, You need to define PCL_NO_PRECOMPILE in preprocessor definitions for pcl::NormalEstimation<pcl::PointXYZI, pcl::PointXYZINormal>.)

- Eigen::Map<const Eigen::Vector3f> point_a_normal = point_a.normal, point_b_normal = point_b.normal;
+ Eigen::Map<const Eigen::Vector3f> point_a_normal (point_a.normal), point_b_normal (point_b.normal);

[SergioRAgostinho]

Can you quickly submit a fix for it?

Using getNormalVector3fMap() should do the trick

pcl/common/include/pcl/impl/point_types.hpp

Lines 208 to 212 in b0e83f2

	#define PCL_ADD_EIGEN_MAPS_NORMAL4D \
	inline pcl::Vector3fMap getNormalVector3fMap () { return (pcl::Vector3fMap (data_n)); } \
	inline pcl::Vector3fMapConst getNormalVector3fMap () const { return (pcl::Vector3fMapConst (data_n)); } \
	inline pcl::Vector4fMap getNormalVector4fMap () { return (pcl::Vector4fMap (data_n)); } \
	inline pcl::Vector4fMapConst getNormalVector4fMap () const { return (pcl::Vector4fMapConst (data_n)); }

[UnaNancyOwen]

It can build successfully. I will send pull request right away.

- Eigen::Map<const Eigen::Vector3f> point_a_normal = point_a.normal, point_b_normal = point_b.normal;
+ Eigen::Map<const Eigen::Vector3f> point_a_normal = point_a.getNormalVector3fMap (), point_b_normal = point_b.getNormalVector3fMap ();

[YongWangNJ]

It can build successfully now, thank you very much!