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Hi there

I have just compiled a recent version of PCL this way (untested, at your own risk!) by disabling some things. The things that I disabled may be needed by you, though.

Actually, my one built against revision 6849 of pcl, but what worked there might work here (yours is one of the problems that came up).

Note that this answer applies to Ubuntu 11.10.

Instructions:

• Start the build. When pcl build fails, go to perception_pcl_unstable/pcl/build/pcl_trunk/visualization/tools/CMakeLists.txt and comment out the lines regarding pcd_viewer (you will not get the pcd_viewer). This should stop the error that you are having, which is because it tries to build it even though the VTK version does not supply everything it needs.

• Also, you will probably need to disable some modules. You do this by going into perception_pcl_unstable/pcl/build/pcl_trunk/build, running ccmake .. (you might have to install cmake-gui-curses) and disabling the modules. I disabled apps, modeller, tools, surface, and examples modules, but you may have better luck with different ones. I probably didn't need to disable them all.

  • Depending on which modules you disable, you may have to remove them from the linker flags exported by perception_pcl_unstable/pcl/manifest.xml - for example, I removed -lpcl_surface

Hope this helps someone.