I have been debugging a weird bug for a week. It causes random segmentation fault for no obvious reason. Since I've decided to reinvent the wheel somehow, to start from the very beginning and use opencv and pcl to build a casual version of the project, life is hard for every tiny problem including the incompatibility of pcl-1.1 with pcl-1.5, opencv2.3 and opencv2.0. The result so far is far from satisfactory.