Index: rtabmap-0.19.7/corelib/src/Graph.cpp
===================================================================
--- rtabmap-0.19.7.orig/corelib/src/Graph.cpp
+++ rtabmap-0.19.7/corelib/src/Graph.cpp
@@ -39,6 +39,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBI
 #include <pcl/search/kdtree.h>
 #include <pcl/common/eigen.h>
 #include <pcl/common/common.h>
+#include <pcl/common/point_tests.h>
 #include <set>
 #include <queue>
 #include <fstream>
Index: rtabmap-0.19.7/corelib/src/clams/frame_projector.cpp
===================================================================
--- rtabmap-0.19.7.orig/corelib/src/clams/frame_projector.cpp
+++ rtabmap-0.19.7/corelib/src/clams/frame_projector.cpp
@@ -33,6 +33,7 @@ RTAB-Map integration: Mathieu Labbe
 #include <rtabmap/core/util3d.h>
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
+#include <pcl/common/point_tests.h>
 
 using namespace std;
 using namespace Eigen;
Index: rtabmap-0.19.7/corelib/src/util3d_correspondences.cpp
===================================================================
--- rtabmap-0.19.7.orig/corelib/src/util3d_correspondences.cpp
+++ rtabmap-0.19.7/corelib/src/util3d_correspondences.cpp
@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBI
 #include <rtabmap/core/EpipolarGeometry.h>
 #include <opencv2/calib3d/calib3d.hpp>
 #include <pcl/search/kdtree.h>
+#include <pcl/common/point_tests.h>
 
 namespace rtabmap
 {
Index: rtabmap-0.19.7/corelib/src/util3d_features.cpp
===================================================================
--- rtabmap-0.19.7.orig/corelib/src/util3d_features.cpp
+++ rtabmap-0.19.7/corelib/src/util3d_features.cpp
@@ -42,6 +42,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBI
 
 #include <opencv2/video/tracking.hpp>
 
+#include <pcl/common/point_tests.h>
+
 namespace rtabmap
 {