书上第10章的例子在pcl1.6中运行有问题，请高手解答。

whut-gz

源代码如下：
#include <iostream>

#include <boost/thread/thread.hpp>
#include <pcl/range_image/range_image.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/range_image_visualizer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/features/range_image_border_extractor.h>
#include <pcl/keypoints/narf_keypoint.h>
#include <pcl/console/parse.h>

typedef pcl::PointXYZ PointType;

// --------------------
// -----Parameters-----
// --------------------
float angular_resolution = 0.5f;
float support_size = 0.2f;
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
bool setUnseenToMaxRange = false;

// --------------
// -----Help-----
// --------------
void
printUsage (const char* progName)
{
  std::cout << "\n\nUsage: "<<progName<<" [options] <scene.pcd>\n\n"
            << "Options:\n"
            << "-------------------------------------------\n"
            << "-r <float>   angular resolution in degrees (default "<<angular_resolution<<")\n"
            << "-c <int>     coordinate frame (default "<< (int)coordinate_frame<<")\n"
            << "-m           Treat all unseen points as maximum range readings\n"
            << "-s <float>   support size for the interest points (diameter of the used sphere - "
            <<                                                     "default "<<support_size<<")\n"
            << "-h           this help\n"
            << "\n\n";
}

void
setViewerPose (pcl::visualization::PCLVisualizer& viewer, const Eigen::Affine3f& viewer_pose)
{
  Eigen::Vector3f pos_vector = viewer_pose * Eigen::Vector3f (0, 0, 0);
  Eigen::Vector3f look_at_vector = viewer_pose.rotation () * Eigen::Vector3f (0, 0, 1) + pos_vector;
  Eigen::Vector3f up_vector = viewer_pose.rotation () * Eigen::Vector3f (0, -1, 0);
  viewer.camera_.pos[0] = pos_vector[0];
  viewer.camera_.pos[1] = pos_vector[1];
  viewer.camera_.pos[2] = pos_vector[2];
  viewer.camera_.focal[0] = look_at_vector[0];
  viewer.camera_.focal[1] = look_at_vector[1];
  viewer.camera_.focal[2] = look_at_vector[2];
  viewer.camera_.view[0] = up_vector[0];
  viewer.camera_.view[1] = up_vector[1];
  viewer.camera_.view[2] = up_vector[2];
  viewer.updateCamera ();
}

// --------------

vs 提示报错信息：
narf_keypoint_extraction.cpp(161): error C2039: “getVector3fMap”: 不是“std::vector<_Ty,_Ax>”的成员；
narf_keypoint_extraction.cpp(161): error C2679: 二进制“[”: 没有找到接受“std::vector<_Ty,_Ax>”类型的右操作数的运算符(或没有可接受的转换)；
narf_keypoint_extraction.cpp(161): error C2228: “.getVector3fMap”的左边必须有类/结构/联合；

怎么修改？