我正在尝试将PCL与ROS结合使用以估计已发布的点云形凉亭模拟器的表面法线；这是我的回调函数，但是，出现以下错误。你能帮忙吗？。
我按照PCL教程进行了正常估算，对我来说很好用。
void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& cloud_msg)
{
// Container for original & filtered data
pcl::PCLPointCloud2* cloud = new pcl::PCLPointCloud2;
pcl::PCLPointCloud2ConstPtr cloudPtr(cloud);
// pcl::PCLPointCloud2 cloud_filtered;
// Convert to PCL data type
pcl_conversions::toPCL(*cloud_msg, *cloud);
// Create the normal estimation class, and pass the input dataset to
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
ne.setInputCloud (cloud);
// Create an empty kdtree representation, and pass it to the normal estimation object.
// Its content will be filled inside the object, based on the given input dataset (as no other search surface is given).
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ> ());
ne.setSearchMethod (tree);
// Output datasets
pcl::PointCloud<pcl::Normal>::Ptr cloud_normals (new pcl::PointCloud<pcl::Normal>);
// Use all neighbors in a sphere of radius 3cm
ne.setRadiusSearch (0.03);
// Compute the features
ne.compute (*cloud_normals);
// cloud_normals->points.size () should have the same size as the input cloud->points.size ()*
// visualize normals
pcl::visualization::PCLVisualizer viewer("PCL Viewer");
viewer.setBackgroundColor (0.0, 0.0, 0.5);
viewer.addPointCloudNormals<pcl::PointXYZ,pcl::Normal>(cloud, cloud_normals);
while (!viewer.wasStopped ()) // THE ORGINAL !viewer.wasStopped ()
{
viewer.spinOnce ();
}
// Convert to ROS data type
sensor_msgs::PointCloud2 output;
pcl_conversions::moveFromPCL(cloud, output);
// Publish the data.
pub.publish (output); }
错误：没有匹配的函数可调用“ pcl :: NormalEstimation :: setInputCloud（pcl :: PCLPointCloud2 *＆）” ne.setInputCloud（cloud）;
错误：没有匹配的函数调用“ pcl :: visualization :: PCLVisualizer :: addPointCloudNormals（pcl :: PCLPointCloud2 *＆，pcl :: PointCloud :: Ptr＆）” viewer.addPointCloudNormals（cloud，cloud_normals）;
错误：模板参数个数错误（2，应为1） viewer.addPointCloudNormals（cloud，cloud_normals）; ^
错误：没有匹配的函数调用“ moveFromPCL（pcl :: PCLPointCloud2 *＆，sensor_msgs :: PointCloud2＆）” pcl_conversions :: moveFromPCL（cloud，output）;