Liunx编译PCL遇到的Eigen问题

1、frustum_culling.hpp文件

‘YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX’ is not a member of ‘Eigen::internal::static_assertion<false>’
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
需要修改文件内容，参考

2、pcl-pcl-1.8.1/surface/include/pcl/surface/impl/bilateral_upsampling.hpp:112:88: error: cannot convert ‘Eigen::internal::enable_if, float, float> >::type {aka Eigen::IndexedView, float, float>}’ to ‘float’ in initialization float val_exp_depth = val_exp_depth_matrix(dx+window_size_, dy+window_size_);
 

Eigen版本不对，PCL1.8.0使用Eigen3.2.8或者3.2.9(未测试)

3、/surface/include/pcl/surface/impl/bilateral_upsampling.hpp:112:88: error: cannot convert ‘Eigen::internal::enable_if<true, Eigen::IndexedView<Eigen::Matrix<float, -1, -1>, float, float> >::type {aka Eigen::IndexedView<Eigen::Matrix<float, -1, -1>, float, float>}’ to ‘float’ in initialization
             float val_exp_depth = val_exp_depth_matrix(dx+window_size_, dy+window_size_);

需要修改文件bilateral_upsampling.hpp，参考