error: ‘Index’ is not a member of ‘Eigen’

m0_70933892

于 2025-05-24 17:31:32 发布

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在编译legoloam时，出现

/usr/include/pcl-1.10/pcl/filters/voxel_grid.h: In member function ‘std::vector<int> pcl::VoxelGrid<pcl::PCLPointCloud2>::getNeighborCentroidIndices(float, float, float, const MatrixXi&) const’:
/usr/include/pcl-1.10/pcl/filters/voxel_grid.h:669:21: error: ‘Index’ is not a member of ‘Eigen’
669 |         for (Eigen::Index ni = 0; ni < relative_coordinates.cols (); ni++)
      |                     ^~~~~
/usr/include/pcl-1.10/pcl/filters/voxel_grid.h: In member function ‘std::vector<int> pcl::VoxelGrid<pcl::PCLPointCloud2>::getNeighborCentroidIndices(float, float, float, const MatrixXi&) const’:
/usr/include/pcl-1.10/pcl/filters/voxel_grid.h:669:21: error: ‘Index’ is not a member of ‘Eigen’
669 |         for (Eigen::Index ni = 0; ni < relative_coordinates.cols (); ni++)
      |                     ^~~~~
/usr/include/pcl-1.10/pcl/filters/voxel_grid.h:669:35: error: ‘ni’ was not declared in this scope
669 |         for (Eigen::Index ni = 0; ni < relative_coordinates.cols (); ni++)
      |                                   ^~
/usr/include/pcl-1.10/pcl/filters/voxel_grid.h:669:35: error: ‘ni’ was not declared in this scope
669 |         for (Eigen::Index ni = 0; ni < relative_coordinates.cols (); ni++)

原因：pcl库与eigen版本不一致出现问题

解决方案：直接修改pcl库的代码将Eigen：：Index修改为int

由于pcl底层库直接打开没有修改权限，故

sudo gedit /usr/include/pcl-1.10/pcl/filters/voxel_grid.h

修改即可