diff --git a/pcl_ros/CMakeLists.txt b/pcl_ros/CMakeLists.txt
index 24f506ae..57c8ba61 100644
--- a/pcl_ros/CMakeLists.txt
+++ b/pcl_ros/CMakeLists.txt
@@ -64,15 +64,15 @@ class_loader_hide_library_symbols(pcl_ros_io)
 add_library (pcl_ros_features
               src/pcl_ros/features/feature.cpp
               # Compilation is much faster if we include all the following CPP files in feature.cpp
-#              src/pcl_ros/features/boundary.cpp
-#              src/pcl_ros/features/fpfh.cpp
-#              src/pcl_ros/features/fpfh_omp.cpp
-#              src/pcl_ros/features/moment_invariants.cpp
-#              src/pcl_ros/features/normal_3d.cpp
-#              src/pcl_ros/features/normal_3d_omp.cpp
-#              src/pcl_ros/features/pfh.cpp
-#             src/pcl_ros/features/principal_curvatures.cpp
-#              src/pcl_ros/features/vfh.cpp
+              src/pcl_ros/features/boundary.cpp
+              src/pcl_ros/features/fpfh.cpp
+              src/pcl_ros/features/fpfh_omp.cpp
+              src/pcl_ros/features/moment_invariants.cpp
+              src/pcl_ros/features/normal_3d.cpp
+              src/pcl_ros/features/normal_3d_omp.cpp
+              src/pcl_ros/features/pfh.cpp
+              src/pcl_ros/features/principal_curvatures.cpp
+              src/pcl_ros/features/vfh.cpp
               )
 #rosbuild_add_compile_flags (pcl_ros_features ${SSE_FLAGS})
 target_link_libraries (pcl_ros_features ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
@@ -99,7 +99,7 @@ class_loader_hide_library_symbols(pcl_ros_filters)
 add_library (pcl_ros_segmentation
               src/pcl_ros/segmentation/segmentation.cpp
               src/pcl_ros/segmentation/segment_differences.cpp
-#              src/pcl_ros/segmentation/extract_clusters.cpp
+              src/pcl_ros/segmentation/extract_clusters.cpp
               src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
               src/pcl_ros/segmentation/sac_segmentation.cpp
               )
@@ -113,7 +113,7 @@ add_library (pcl_ros_surface
               src/pcl_ros/surface/surface.cpp
               # Compilation is much faster if we include all the following CPP files in surface.cpp
               src/pcl_ros/surface/convex_hull.cpp
-              #src/pcl_ros/surface/moving_least_squares.cpp
+              src/pcl_ros/surface/moving_least_squares.cpp
               )
 #rosbuild_add_compile_flags (pcl_ros_surface ${SSE_FLAGS})
 target_link_libraries (pcl_ros_surface ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
diff --git a/pcl_ros/include/pcl_ros/features/principal_curvatures.h b/pcl_ros/include/pcl_ros/features/principal_curvatures.h
index 7a0ddfb6..d7dcdf49 100644
--- a/pcl_ros/include/pcl_ros/features/principal_curvatures.h
+++ b/pcl_ros/include/pcl_ros/features/principal_curvatures.h
@@ -38,6 +38,7 @@
 #ifndef PCL_ROS_PRINCIPAL_CURVATURES_H_
 #define PCL_ROS_PRINCIPAL_CURVATURES_H_
 
+#define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET true
 #include <pcl/features/principal_curvatures.h>
 #include "pcl_ros/features/feature.h"
 
diff --git a/pcl_ros/src/pcl_ros/features/boundary.cpp b/pcl_ros/src/pcl_ros/features/boundary.cpp
index 0e17c5fd..5fa970f6 100644
--- a/pcl_ros/src/pcl_ros/features/boundary.cpp
+++ b/pcl_ros/src/pcl_ros/features/boundary.cpp
@@ -55,9 +55,6 @@ pcl_ros::BoundaryEstimation::computePublish (const PointCloudInConstPtr &cloud,
   // Set the parameters
   impl_.setKSearch (k_);
   impl_.setRadiusSearch (search_radius_);
-  // Initialize the spatial locator
-  initTree (spatial_locator_type_, tree_, k_);
-  impl_.setSearchMethod (tree_);
 
   // Set the inputs
   impl_.setInputCloud (cloud);
diff --git a/pcl_ros/src/pcl_ros/features/fpfh.cpp b/pcl_ros/src/pcl_ros/features/fpfh.cpp
index 7782fde9..081696b1 100644
--- a/pcl_ros/src/pcl_ros/features/fpfh.cpp
+++ b/pcl_ros/src/pcl_ros/features/fpfh.cpp
@@ -55,9 +55,6 @@ pcl_ros::FPFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
   // Set the parameters
   impl_.setKSearch (k_);
   impl_.setRadiusSearch (search_radius_);
-  // Initialize the spatial locator
-  initTree (spatial_locator_type_, tree_, k_);
-  impl_.setSearchMethod (tree_);
 
   // Set the inputs
   impl_.setInputCloud (cloud);
diff --git a/pcl_ros/src/pcl_ros/features/fpfh_omp.cpp b/pcl_ros/src/pcl_ros/features/fpfh_omp.cpp
index 51880a9f..09a573f6 100644
--- a/pcl_ros/src/pcl_ros/features/fpfh_omp.cpp
+++ b/pcl_ros/src/pcl_ros/features/fpfh_omp.cpp
@@ -55,9 +55,6 @@ pcl_ros::FPFHEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
   // Set the parameters
   impl_.setKSearch (k_);
   impl_.setRadiusSearch (search_radius_);
-  // Initialize the spatial locator
-  initTree (spatial_locator_type_, tree_, k_);
-  impl_.setSearchMethod (tree_);
 
   // Set the inputs
   impl_.setInputCloud (cloud);
diff --git a/pcl_ros/src/pcl_ros/features/moment_invariants.cpp b/pcl_ros/src/pcl_ros/features/moment_invariants.cpp
index 85bd209a..49838204 100644
--- a/pcl_ros/src/pcl_ros/features/moment_invariants.cpp
+++ b/pcl_ros/src/pcl_ros/features/moment_invariants.cpp
@@ -54,9 +54,6 @@ pcl_ros::MomentInvariantsEstimation::computePublish (const PointCloudInConstPtr
   // Set the parameters
   impl_.setKSearch (k_);
   impl_.setRadiusSearch (search_radius_);
-  // Initialize the spatial locator
-  initTree (spatial_locator_type_, tree_, k_);
-  impl_.setSearchMethod (tree_);
 
   // Set the inputs
   impl_.setInputCloud (cloud);
diff --git a/pcl_ros/src/pcl_ros/features/normal_3d.cpp b/pcl_ros/src/pcl_ros/features/normal_3d.cpp
index a512c41f..31b4dc70 100644
--- a/pcl_ros/src/pcl_ros/features/normal_3d.cpp
+++ b/pcl_ros/src/pcl_ros/features/normal_3d.cpp
@@ -54,9 +54,6 @@ pcl_ros::NormalEstimation::computePublish (const PointCloudInConstPtr &cloud,
   // Set the parameters
   impl_.setKSearch (k_);
   impl_.setRadiusSearch (search_radius_);
-  // Initialize the spatial locator
-  initTree (spatial_locator_type_, tree_, k_);
-  impl_.setSearchMethod (tree_);
 
   // Set the inputs
   impl_.setInputCloud (cloud);
diff --git a/pcl_ros/src/pcl_ros/features/normal_3d_omp.cpp b/pcl_ros/src/pcl_ros/features/normal_3d_omp.cpp
index e53fe9c7..06c1b31a 100644
--- a/pcl_ros/src/pcl_ros/features/normal_3d_omp.cpp
+++ b/pcl_ros/src/pcl_ros/features/normal_3d_omp.cpp
@@ -54,9 +54,6 @@ pcl_ros::NormalEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
   // Set the parameters
   impl_.setKSearch (k_);
   impl_.setRadiusSearch (search_radius_);
-  // Initialize the spatial locator
-  initTree (spatial_locator_type_, tree_, k_);
-  impl_.setSearchMethod (tree_);
 
   // Set the inputs
   impl_.setInputCloud (cloud);
diff --git a/pcl_ros/src/pcl_ros/features/pfh.cpp b/pcl_ros/src/pcl_ros/features/pfh.cpp
index f40e0bab..94b97c88 100644
--- a/pcl_ros/src/pcl_ros/features/pfh.cpp
+++ b/pcl_ros/src/pcl_ros/features/pfh.cpp
@@ -55,9 +55,6 @@ pcl_ros::PFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
   // Set the parameters
   impl_.setKSearch (k_);
   impl_.setRadiusSearch (search_radius_);
-  // Initialize the spatial locator
-  initTree (spatial_locator_type_, tree_, k_);
-  impl_.setSearchMethod (tree_);
 
   // Set the inputs
   impl_.setInputCloud (cloud);
diff --git a/pcl_ros/src/pcl_ros/features/principal_curvatures.cpp b/pcl_ros/src/pcl_ros/features/principal_curvatures.cpp
index d6431160..471549ab 100644
--- a/pcl_ros/src/pcl_ros/features/principal_curvatures.cpp
+++ b/pcl_ros/src/pcl_ros/features/principal_curvatures.cpp
@@ -55,9 +55,6 @@ pcl_ros::PrincipalCurvaturesEstimation::computePublish (const PointCloudInConstP
   // Set the parameters
   impl_.setKSearch (k_);
   impl_.setRadiusSearch (search_radius_);
-  // Initialize the spatial locator
-  initTree (spatial_locator_type_, tree_, k_);
-  impl_.setSearchMethod (tree_);
 
   // Set the inputs
   impl_.setInputCloud (cloud);
diff --git a/pcl_ros/src/pcl_ros/features/vfh.cpp b/pcl_ros/src/pcl_ros/features/vfh.cpp
index f13028e3..86ddc137 100644
--- a/pcl_ros/src/pcl_ros/features/vfh.cpp
+++ b/pcl_ros/src/pcl_ros/features/vfh.cpp
@@ -55,9 +55,6 @@ pcl_ros::VFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
   // Set the parameters
   impl_.setKSearch (k_);
   impl_.setRadiusSearch (search_radius_);
-  // Initialize the spatial locator
-  initTree (spatial_locator_type_, tree_, k_);
-  impl_.setSearchMethod (tree_);
 
   // Set the inputs
   impl_.setInputCloud (cloud);
diff --git a/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp b/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp
index 3c067f0a..0bff57bf 100644
--- a/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp
+++ b/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp
@@ -100,14 +100,12 @@ pcl_ros::EuclideanClusterExtraction::onInit ()
   NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
                  " - max_queue_size    : %d\n"
                  " - use_indices       : %s\n"
-                 " - cluster_tolerance : %f\n"
-                 " - spatial_locator   : %d",
+                 " - cluster_tolerance : %f\n",
                  getName ().c_str (),
                  max_queue_size_,
-                 (use_indices_) ? "true" : "false", cluster_tolerance, spatial_locator);
+                 (use_indices_) ? "true" : "false", cluster_tolerance);
 
   // Set given parameters here
-  impl_.setSpatialLocator (spatial_locator);
   impl_.setClusterTolerance (cluster_tolerance);
 }
 
diff --git a/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp b/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp
index c79c0195..2cb41cff 100644
--- a/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp
+++ b/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp
@@ -149,7 +149,6 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr
 
   // Reset the indices and surface pointers
   impl_.setInputCloud (cloud);
-  impl_.setOutputNormals (normals);
 
   IndicesPtr indices_ptr;
   if (indices)
@@ -158,11 +157,9 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr
   impl_.setIndices (indices_ptr);
 
   // Initialize the spatial locator
-  initTree (spatial_locator_type_, tree_, 0); //k_);
-  impl_.setSearchMethod (tree_);
   
   // Do the reconstructon
-  impl_.reconstruct (output);
+  //impl_.process (output);
 
   // Publish a Boost shared ptr const data
   // Enforce that the TF frame and the timestamp are copied