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It seems like you have a Eigen version installed that is too new for PCL. It seems in 3.2 the sqrt function moved from eigen::internal::sqrt to eigen::sqrt. See this question:

http://answers.ros.org/question/128916/ros-groovy-compile-fails-at-pcl/

So you could either try to change the source of PCL or make sure it is using eigen 3.1 to compile.

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