diff -up ./tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter.hpp.gcc47 ./tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter.hpp
--- ./tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter.hpp.gcc47	2012-02-27 19:52:53.813318632 -0500
+++ ./tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter.hpp	2012-02-27 19:53:22.815364954 -0500
@@ -54,7 +54,7 @@ pcl::tracking::KLDAdaptiveParticleFilter
   // initializing for sampling without replacement
   std::vector<int> a (particles_->points.size ());
   std::vector<double> q (particles_->points.size ());
-  genAliasTable (a, q, particles_);
+  this->genAliasTable (a, q, particles_);
   
   const std::vector<double> zero_mean (StateT::stateDimension (), 0.0);
   
diff -up ./tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter_omp.hpp.gcc47 ./tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter_omp.hpp
--- ./tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter_omp.hpp.gcc47	2012-02-27 20:05:28.374624954 -0500
+++ ./tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter_omp.hpp	2012-02-27 20:06:40.305196260 -0500
@@ -8,14 +8,14 @@ pcl::tracking::KLDAdaptiveParticleFilter
   {
 #pragma omp parallel for schedule (dynamic, threads_)
     for (int i = 0; i < particle_num_; i++)
-      computeTransformedPointCloudWithoutNormal (particles_->points[i], *transed_reference_vector_[i]);
+      this->computeTransformedPointCloudWithoutNormal (particles_->points[i], *transed_reference_vector_[i]);
     
     PointCloudInPtr coherence_input (new PointCloudIn);
-    cropInputPointCloud (input_, *coherence_input);
+    this->cropInputPointCloud (input_, *coherence_input);
     if (change_counter_ == 0)
     {
       // test change detector
-      if (!use_change_detector_ || testChangeDetection (coherence_input))
+      if (!use_change_detector_ || this->testChangeDetection (coherence_input))
       {
         changed_ = true;
         change_counter_ = change_detector_interval_;
@@ -54,11 +54,11 @@ pcl::tracking::KLDAdaptiveParticleFilter
 #pragma omp parallel for schedule (dynamic, threads_)
     for (int i = 0; i < particle_num_; i++)
     {
-      computeTransformedPointCloudWithNormal (particles_->points[i], *indices_list[i], *transed_reference_vector_[i]);
+      this->computeTransformedPointCloudWithNormal (particles_->points[i], *indices_list[i], *transed_reference_vector_[i]);
     }
     
     PointCloudInPtr coherence_input (new PointCloudIn);
-    cropInputPointCloud (input_, *coherence_input);
+    this->cropInputPointCloud (input_, *coherence_input);
     
     coherence_->setTargetCloud (coherence_input);
     coherence_->initCompute ();
diff -up ./tracking/include/pcl/tracking/impl/particle_filter_omp.hpp.gcc47 ./tracking/include/pcl/tracking/impl/particle_filter_omp.hpp
--- ./tracking/include/pcl/tracking/impl/particle_filter_omp.hpp.gcc47	2012-02-27 19:36:30.818287347 -0500
+++ ./tracking/include/pcl/tracking/impl/particle_filter_omp.hpp	2012-02-27 19:52:33.441585017 -0500
@@ -8,14 +8,14 @@ pcl::tracking::ParticleFilterOMPTracker<
   {
 #pragma omp parallel for schedule (dynamic, threads_)
     for (int i = 0; i < particle_num_; i++)
-      computeTransformedPointCloudWithoutNormal (particles_->points[i], *transed_reference_vector_[i]);
+      this->computeTransformedPointCloudWithoutNormal (particles_->points[i], *transed_reference_vector_[i]);
     
     PointCloudInPtr coherence_input (new PointCloudIn);
-    cropInputPointCloud (input_, *coherence_input);
+    this->cropInputPointCloud (input_, *coherence_input);
     if (change_counter_ == 0)
     {
       // test change detector
-      if (!use_change_detector_ || testChangeDetection (coherence_input))
+      if (!use_change_detector_ || this->testChangeDetection (coherence_input))
       {
         changed_ = true;
         change_counter_ = change_detector_interval_;
@@ -54,11 +54,11 @@ pcl::tracking::ParticleFilterOMPTracker<
 #pragma omp parallel for schedule (dynamic, threads_)
     for (int i = 0; i < particle_num_; i++)
     {
-      computeTransformedPointCloudWithNormal (particles_->points[i], *indices_list[i], *transed_reference_vector_[i]);
+      this->computeTransformedPointCloudWithNormal (particles_->points[i], *indices_list[i], *transed_reference_vector_[i]);
     }
     
     PointCloudInPtr coherence_input (new PointCloudIn);
-    cropInputPointCloud (input_, *coherence_input);
+    this->cropInputPointCloud (input_, *coherence_input);
     
     coherence_->setTargetCloud (coherence_input);
     coherence_->initCompute ();