1) I had to add #include <pcl/ros/conversions.h>
to:
geom_utils.h
vis_wrapper.cpp

It should basically go anywhere that has pcl::toROSMsg or pcl::fromROSMsg), but these two were the only places needed because other files depended on them and inherited the include.  For completeness you should probably also add it to:
measures.h
segment_scene.cpp

2) Change setCameraPose to setCameraPosition in
segment_scene.cpp
annotate_bag.cpp
vis_wrapper.cpp
cooccurrence.cpp