GPU People Detect Sceleton

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GPU People Detect Sceleton

Mischa1610
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Re: GPU People Detect Sceleton

Matteo Munaro

Hi Michael,

I don't think that there is a method to get the skeleton so far, but maybe Koen can answer on this.

For the documentation, you can find it here:
http://docs.pointclouds.org/trunk/namespacepcl_1_1gpu_1_1people.html

Cheers,
Matteo

> From: [hidden email]

> Date: Mon, 9 Sep 2013 18:13:15 +0200
> To: [hidden email]
> Subject: [PCL-users] GPU People Detect Sceleton
>
> Hi,
> I tried the gpu people_app for people detecting and it worked fine.
> But now my question is, is it possible to get the skeleton from the person and not the labeling of the person body parts?
>
> Also I read the documentation "Detecting people and their poses using PointCloud Library", watched the video and read the pdf at http://www.pointclouds.org/assets/icra2012/people.pdf but is there somewhere maybe a more detailed code documentation about the gpu people detection, something like the API Documentation on http://docs.pointclouds.org/trunk/ (I found nothing about gpu people detection in the API Documentation, if there is something please can you send me a link?).
>
> Thank you very much in advance.
> _______________________________________________
> [hidden email] / http://pointclouds.org
> http://pointclouds.org/mailman/listinfo/pcl-users

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Re: GPU People Detect Sceleton

Mischa1610
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Re: GPU People Detect Sceleton

ashokbugude
Hi, Pls help me

Operating System and version: Linux , Ubuntu 16.04
Compiler: gcc 4.9 ( tried with gcc 5.4 also )
PCL Version: 1.8

I am trying to build people_detector code in code blocks form pcl/gpu/people/src/people_detector.cpp, but I get below errors although I have added all .so files of pcl in project -> build options -> Linker Settings.

am trying to put the contents of CMakeLists.txt as described in http://pointclouds.org/documentation/tutorials/gpu_people.php ie

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(people_detect)

find_package(PCL 1.7 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

#Searching CUDA
FIND_PACKAGE(CUDA)

#Include the FindCUDA script
INCLUDE(FindCUDA)

cuda_add_executable (people_detect src/people_detector.cpp)
target_link_libraries (people_detect ${PCL_LIBRARIES})




 I get the same error when I run cmake as ahown below

zayyon@zayyon-MS-7693:/home/roitberg/workspace/pcl/gpu/people/build$ make
[ 50%] Building CXX object CMakeFiles/people_detect.dir/src/people_detector.cpp.o
[100%] Linking CXX executable people_detect
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crt1.o: In function start': (.text+0x20): undefined reference tomain'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::people::PeopleDetector::PeopleDetector()': people_detector.cpp:(.text+0x324): undefined reference topcl::gpu::people::OrganizedPlaneDetector::OrganizedPlaneDetector(int, int)'
people_detector.cpp:(.text+0x36e): undefined reference to pcl::gpu::people::ProbabilityProcessor::ProbabilityProcessor()' people_detector.cpp:(.text+0x3b8): undefined reference topcl::gpu::people::PersonAttribs::PersonAttribs()'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::people::PeopleDetector::allocate_buffers(int, int)': people_detector.cpp:(.text+0x89a): undefined reference topcl::device::Dilatation::prepareRect5x5Kernel(pcl::gpu::DeviceArray&)'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::people::PeopleDetector::process(pcl::gpu::DeviceArray2D const&, pcl::gpu::DeviceArray2Dpcl::RGB const&)': people_detector.cpp:(.text+0x1073): undefined reference topcl::device::computeHueWithNans(pcl::gpu::DeviceArray2D const&, pcl::gpu::DeviceArray2D const&, pcl::gpu::DeviceArray2D&)'
people_detector.cpp:(.text+0x1128): undefined reference to pcl::device::computeCloud(pcl::gpu::DeviceArray2D const&, pcl::device::Intr const&, pcl::gpu::DeviceArray2D&)' CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In functionpcl::gpu::people::PeopleDetector::process(boost::shared_ptrpcl::PointCloud const&)':
people_detector.cpp:(.text+0x1333): undefined reference to pcl::device::computeHue(int)' CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In functionpcl::gpu::people::PeopleDetector::process()':
people_detector.cpp:(.text+0x14de): undefined reference to pcl::gpu::people::RDFBodyPartsDetector::process(pcl::gpu::DeviceArray2D const&, pcl::PointCloudpcl::PointXYZ const&, int)' people_detector.cpp:(.text+0x14f5): undefined reference topcl::gpu::people::RDFBodyPartsDetector::getBlobMatrix() const'
people_detector.cpp:(.text+0x16ff): undefined reference to pcl::device::Dilatation::invoke(pcl::gpu::DeviceArray2D const&, pcl::gpu::DeviceArray const&, pcl::gpu::DeviceArray2D&)' people_detector.cpp:(.text+0x1733): undefined reference topcl::device::prepareForeGroundDepth(pcl::gpu::DeviceArray2D const&, pcl::gpu::DeviceArray2D&, pcl::gpu::DeviceArray2D&)'
people_detector.cpp:(.text+0x1771): undefined reference to pcl::gpu::people::RDFBodyPartsDetector::process(pcl::gpu::DeviceArray2D const&, pcl::PointCloudpcl::PointXYZ const&, int)' people_detector.cpp:(.text+0x1788): undefined reference topcl::gpu::people::RDFBodyPartsDetector::getBlobMatrix() const'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::people::PeopleDetector::processProb(boost::shared_ptrpcl::PointCloud<pcl::PointXYZRGBA const> const&)': people_detector.cpp:(.text+0x4432): undefined reference topcl::device::computeHue(int)'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::people::PeopleDetector::processProb()': people_detector.cpp:(.text+0x45e9): undefined reference topcl::gpu::people::RDFBodyPartsDetector::processProb(pcl::gpu::DeviceArray2D const&)'
people_detector.cpp:(.text+0x4640): undefined reference to pcl::gpu::people::ProbabilityProcessor::SelectLabel(pcl::gpu::DeviceArray2D const&, pcl::gpu::DeviceArray2D&, pcl::gpu::DeviceArray2Dpcl::device::prob_histogram&)' people_detector.cpp:(.text+0x46d9): undefined reference topcl::gpu::people::RDFBodyPartsDetector::processProb(pcl::gpu::DeviceArray2D const&)'
people_detector.cpp:(.text+0x472d): undefined reference to pcl::gpu::people::ProbabilityProcessor::CreateGaussianKernel(float, int)' people_detector.cpp:(.text+0x4870): undefined reference topcl::gpu::people::ProbabilityProcessor::GaussianBlur(pcl::gpu::DeviceArray2D const&, pcl::gpu::DeviceArray2Dpcl::device::prob_histogram&, pcl::gpu::DeviceArray&, pcl::gpu::DeviceArray2Dpcl::device::prob_histogram&, pcl::gpu::DeviceArray2Dpcl::device::prob_histogram&)'
people_detector.cpp:(.text+0x490f): undefined reference to pcl::gpu::people::ProbabilityProcessor::CombineProb(pcl::gpu::DeviceArray2D const&, pcl::gpu::DeviceArray2Dpcl::device::prob_histogram&, float, pcl::gpu::DeviceArray2Dpcl::device::prob_histogram&, float, pcl::gpu::DeviceArray2Dpcl::device::prob_histogram&)' people_detector.cpp:(.text+0x497d): undefined reference topcl::gpu::people::ProbabilityProcessor::SelectLabel(pcl::gpu::DeviceArray2D const&, pcl::gpu::DeviceArray2D&, pcl::gpu::DeviceArray2Dpcl::device::prob_histogram&)'
people_detector.cpp:(.text+0x49ca): undefined reference to pcl::gpu::people::RDFBodyPartsDetector::processSmooth(pcl::gpu::DeviceArray2D const&, pcl::PointCloudpcl::PointXYZ const&, int)' people_detector.cpp:(.text+0x4a0b): undefined reference topcl::gpu::people::RDFBodyPartsDetector::processRelations(boost::shared_ptrpcl::gpu::people::PersonAttribs)'
people_detector.cpp:(.text+0x4a64): undefined reference to pcl::gpu::people::RDFBodyPartsDetector::getBlobMatrix() const' people_detector.cpp:(.text+0x4c19): undefined reference topcl::device::Dilatation::invoke(pcl::gpu::DeviceArray2D const&, pcl::gpu::DeviceArray const&, pcl::gpu::DeviceArray2D&)'
people_detector.cpp:(.text+0x4c4d): undefined reference to pcl::device::prepareForeGroundDepth(pcl::gpu::DeviceArray2D const&, pcl::gpu::DeviceArray2D&, pcl::gpu::DeviceArray2D&)' people_detector.cpp:(.text+0x4c75): undefined reference topcl::gpu::people::RDFBodyPartsDetector::processProb(pcl::gpu::DeviceArray2D const&)'
people_detector.cpp:(.text+0x4ccc): undefined reference to pcl::gpu::people::ProbabilityProcessor::SelectLabel(pcl::gpu::DeviceArray2D const&, pcl::gpu::DeviceArray2D&, pcl::gpu::DeviceArray2Dpcl::device::prob_histogram&)' people_detector.cpp:(.text+0x4d0a): undefined reference topcl::gpu::people::RDFBodyPartsDetector::processSmooth(pcl::gpu::DeviceArray2D const&, pcl::PointCloudpcl::PointXYZ const&, int)'
people_detector.cpp:(.text+0x4d4b): undefined reference to pcl::gpu::people::RDFBodyPartsDetector::processRelations(boost::shared_ptrpcl::gpu::people::PersonAttribs)' people_detector.cpp:(.text+0x4da4): undefined reference topcl::gpu::people::RDFBodyPartsDetector::getBlobMatrix() const'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray::~DeviceArray()': people_detector.cpp:(.text._ZN3pcl3gpu11DeviceArrayIhED2Ev[_ZN3pcl3gpu11DeviceArrayIhED5Ev]+0x14): undefined reference topcl::gpu::DeviceMemory::~DeviceMemory()'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2Dpcl::PointXYZ::~DeviceArray2D()': people_detector.cpp:(.text._ZN3pcl3gpu13DeviceArray2DINS_8PointXYZEED2Ev[_ZN3pcl3gpu13DeviceArray2DINS_8PointXYZEED5Ev]+0x14): undefined reference topcl::gpu::DeviceMemory2D::~DeviceMemory2D()'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2D::~DeviceArray2D()': people_detector.cpp:(.text._ZN3pcl3gpu13DeviceArray2DIfED2Ev[_ZN3pcl3gpu13DeviceArray2DIfED5Ev]+0x14): undefined reference topcl::gpu::DeviceMemory2D::~DeviceMemory2D()'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2D::~DeviceArray2D()': people_detector.cpp:(.text._ZN3pcl3gpu13DeviceArray2DItED2Ev[_ZN3pcl3gpu13DeviceArray2DItED5Ev]+0x14): undefined reference topcl::gpu::DeviceMemory2D::~DeviceMemory2D()'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2D::~DeviceArray2D()': people_detector.cpp:(.text._ZN3pcl3gpu13DeviceArray2DIhED2Ev[_ZN3pcl3gpu13DeviceArray2DIhED5Ev]+0x14): undefined reference topcl::gpu::DeviceMemory2D::~DeviceMemory2D()'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray::~DeviceArray()': people_detector.cpp:(.text._ZN3pcl3gpu11DeviceArrayIfED2Ev[_ZN3pcl3gpu11DeviceArrayIfED5Ev]+0x14): undefined reference topcl::gpu::DeviceMemory::~DeviceMemory()'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray::DeviceArray()': people_detector.cpp:(.text._ZN3pcl3gpu11DeviceArrayIhEC2Ev[_ZN3pcl3gpu11DeviceArrayIhEC5Ev]+0x14): undefined reference topcl::gpu::DeviceMemory::DeviceMemory()'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2Dpcl::PointXYZ::DeviceArray2D()': people_detector.cpp:(.text._ZN3pcl3gpu13DeviceArray2DINS_8PointXYZEEC2Ev[_ZN3pcl3gpu13DeviceArray2DINS_8PointXYZEEC5Ev]+0x14): undefined reference topcl::gpu::DeviceMemory2D::DeviceMemory2D()'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2D::DeviceArray2D()': people_detector.cpp:(.text._ZN3pcl3gpu13DeviceArray2DIfEC2Ev[_ZN3pcl3gpu13DeviceArray2DIfEC5Ev]+0x14): undefined reference topcl::gpu::DeviceMemory2D::DeviceMemory2D()'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2D::DeviceArray2D()': people_detector.cpp:(.text._ZN3pcl3gpu13DeviceArray2DItEC2Ev[_ZN3pcl3gpu13DeviceArray2DItEC5Ev]+0x14): undefined reference topcl::gpu::DeviceMemory2D::DeviceMemory2D()'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2D::DeviceArray2D()': people_detector.cpp:(.text._ZN3pcl3gpu13DeviceArray2DIhEC2Ev[_ZN3pcl3gpu13DeviceArray2DIhEC5Ev]+0x14): undefined reference topcl::gpu::DeviceMemory2D::DeviceMemory2D()'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2Dpcl::PointXYZ::create(int, int)': people_detector.cpp:(.text._ZN3pcl3gpu13DeviceArray2DINS_8PointXYZEE6createEii[_ZN3pcl3gpu13DeviceArray2DINS_8PointXYZEE6createEii]+0x27): undefined reference topcl::gpu::DeviceMemory2D::create(int, int)'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2D::create(int, int)': people_detector.cpp:(.text._ZN3pcl3gpu13DeviceArray2DIfE6createEii[_ZN3pcl3gpu13DeviceArray2DIfE6createEii]+0x29): undefined reference topcl::gpu::DeviceMemory2D::create(int, int)'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2D::create(int, int)': people_detector.cpp:(.text._ZN3pcl3gpu13DeviceArray2DItE6createEii[_ZN3pcl3gpu13DeviceArray2DItE6createEii]+0x25): undefined reference topcl::gpu::DeviceMemory2D::create(int, int)'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2D::create(int, int)': people_detector.cpp:(.text._ZN3pcl3gpu13DeviceArray2DIhE6createEii[_ZN3pcl3gpu13DeviceArray2DIhE6createEii]+0x22): undefined reference topcl::gpu::DeviceMemory2D::create(int, int)'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2D::rows() const': people_detector.cpp:(.text._ZNK3pcl3gpu13DeviceArray2DItE4rowsEv[_ZNK3pcl3gpu13DeviceArray2DItE4rowsEv]+0x14): undefined reference topcl::gpu::DeviceMemory2D::rows() const'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2D::cols() const': people_detector.cpp:(.text._ZNK3pcl3gpu13DeviceArray2DItE4colsEv[_ZNK3pcl3gpu13DeviceArray2DItE4colsEv]+0x14): undefined reference topcl::gpu::DeviceMemory2D::colsBytes() const'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2D::operator=(pcl::gpu::DeviceArray2D const&)': people_detector.cpp:(.text._ZN3pcl3gpu13DeviceArray2DItEaSERKS2[ZN3pcl3gpu13DeviceArray2DItEaSERKS2]+0x1f): undefined reference topcl::gpu::DeviceMemory2D::operator=(pcl::gpu::DeviceMemory2D const&)'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function void pcl::gpu::DeviceArray2D::downloadEigen::aligned_allocator<float >(std::vector >&, int&) const': people_detector.cpp:(.text.ZNK3pcl3gpu13DeviceArray2DIfE8downloadIN5Eigen17aligned_allocatorIfEEEEvRSt6vectorIfT_ERi[_ZNK3pcl3gpu13DeviceArray2DIfE8downloadIN5Eigen17aligned_allocatorIfEEEEvRSt6vectorIfT_ERi]+0x73): undefined reference topcl::gpu::DeviceMemory2D::colsBytes() const'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function void pcl::gpu::DeviceArray2Dpcl::PointXYZ::downloadEigen::aligned_allocator<pcl::PointXYZ >(std::vector >&, int&) const': people_detector.cpp:(.text._ZNK3pcl3gpu13DeviceArray2DINS_8PointXYZEE8downloadIN5Eigen17aligned_allocatorIS2_EEEEvRSt6vectorIS2_T_ERi[_ZNK3pcl3gpu13DeviceArray2DINS_8PointXYZEE8downloadIN5Eigen17aligned_allocatorIS2_EEEEvRSt6vectorIS2_T_ERi]+0x73): undefined reference topcl::gpu::DeviceMemory2D::colsBytes() const'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2Dpcl::PointXYZ::cols() const': people_detector.cpp:(.text._ZNK3pcl3gpu13DeviceArray2DINS_8PointXYZEE4colsEv[_ZNK3pcl3gpu13DeviceArray2DINS_8PointXYZEE4colsEv]+0x14): undefined reference topcl::gpu::DeviceMemory2D::colsBytes() const'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2Dpcl::PointXYZ::rows() const': people_detector.cpp:(.text._ZNK3pcl3gpu13DeviceArray2DINS_8PointXYZEE4rowsEv[_ZNK3pcl3gpu13DeviceArray2DINS_8PointXYZEE4rowsEv]+0x14): undefined reference topcl::gpu::DeviceMemory2D::rows() const'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2Dpcl::device::prob_histogram::swap(pcl::gpu::DeviceArray2Dpcl::device::prob_histogram&)': people_detector.cpp:(.text._ZN3pcl3gpu13DeviceArray2DINS_6device14prob_histogramEE4swapERS4[ZN3pcl3gpu13DeviceArray2DINS_6device14prob_histogramEE4swapERS4]+0x1f): undefined reference topcl::gpu::DeviceMemory2D::swap(pcl::gpu::DeviceMemory2D&)'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray::DeviceArray(unsigned long)': people_detector.cpp:(.text._ZN3pcl3gpu11DeviceArrayIfEC2Em[_ZN3pcl3gpu11DeviceArrayIfEC5Em]+0x27): undefined reference topcl::gpu::DeviceMemory::DeviceMemory(unsigned long)'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray::upload(float const, unsigned long)': people_detector.cpp:(.text._ZN3pcl3gpu11DeviceArrayIfE6uploadEPKfm[_ZN3pcl3gpu11DeviceArrayIfE6uploadEPKfm]+0x2f): undefined reference topcl::gpu::DeviceMemory::upload(void const, unsigned long)'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2D::cols() const': people_detector.cpp:(.text._ZNK3pcl3gpu13DeviceArray2DIfE4colsEv[_ZNK3pcl3gpu13DeviceArray2DIfE4colsEv]+0x14): undefined reference topcl::gpu::DeviceMemory2D::colsBytes() const'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2D::rows() const': people_detector.cpp:(.text._ZNK3pcl3gpu13DeviceArray2DIfE4rowsEv[_ZNK3pcl3gpu13DeviceArray2DIfE4rowsEv]+0x14): undefined reference topcl::gpu::DeviceMemory2D::rows() const'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function `pcl::gpu::DeviceArray2D::download(void, unsigned long) const':
people_detector.cpp:(.text._ZNK3pcl3gpu13DeviceArray2DIfE8downloadEPvm[_ZNK3pcl3gpu13DeviceArray2DIfE8downloadEPvm]+0x27): undefined reference to pcl::gpu::DeviceMemory2D::download(void, unsigned long) const' CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In functionpcl::gpu::DeviceArray2Dpcl::PointXYZ::download(void, unsigned long) const':
people_detector.cpp:(.text._ZNK3pcl3gpu13DeviceArray2DINS_8PointXYZEE8downloadEPvm[_ZNK3pcl3gpu13DeviceArray2DINS_8PointXYZEE8downloadEPvm]+0x27): undefined reference to pcl::gpu::DeviceMemory2D::download(void, unsigned long) const' CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2D<pcl::PointXYZ>::upload(void const*, unsigned long, int, int)': people_detector.cpp:(.text._ZN3pcl3gpu13DeviceArray2DINS_8PointXYZEE6uploadEPKvmii[_ZN3pcl3gpu13DeviceArray2DINS_8PointXYZEE6uploadEPKvmii]+0x39): undefined reference topcl::gpu::DeviceMemory2D::upload(void const, unsigned long, int, int)' CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In functionpcl::gpu::DeviceArray2D::upload(void const, unsigned long, int, int)':
people_detector.cpp:(.text._ZN3pcl3gpu13DeviceArray2DIfE6uploadEPKvmii[_ZN3pcl3gpu13DeviceArray2DIfE6uploadEPKvmii]+0x3b): undefined reference to pcl::gpu::DeviceMemory2D::upload(void const, unsigned long, int, int)' CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In functionpcl::gpu::DeviceArray2D::upload(void const, unsigned long, int, int)':
people_detector.cpp:(.text._ZN3pcl3gpu13DeviceArray2DItE6uploadEPKvmii[_ZN3pcl3gpu13DeviceArray2DItE6uploadEPKvmii]+0x37): undefined reference to `pcl::gpu::DeviceMemory2D::upload(void const, unsigned long, int, int)'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2D::upload(void const, unsigned long, int, int)': people_detector.cpp:(.text._ZN3pcl3gpu13DeviceArray2DIhE6uploadEPKvmii[_ZN3pcl3gpu13DeviceArray2DIhE6uploadEPKvmii]+0x34): undefined reference topcl::gpu::DeviceMemory2D::upload(void const, unsigned long, int, int)'
CMakeFiles/people_detect.dir/src/people_detector.cpp.o: In function pcl::gpu::DeviceArray2Dpcl::device::prob_histogram::~DeviceArray2D()': people_detector.cpp:(.text._ZN3pcl3gpu13DeviceArray2DINS_6device14prob_histogramEED2Ev[_ZN3pcl3gpu13DeviceArray2DINS_6device14prob_histogramEED5Ev]+0x14): undefined reference topcl::gpu::DeviceMemory2D::~DeviceMemory2D()'
collect2: error: ld returned 1 exit status
CMakeFiles/people_detect.dir/build.make:182: recipe for target 'people_detect' failed
make[2]: ** [people_detect] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/people_detect.dir/all' failed
make[1]: *** [CMakeFiles/people_detect.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2