用vs2015编译okvis时遇到的代码中的语法问题

[xdzhangyiy]

在windows系统中用vs2015编译okvis代码中okvis_multisensor_processing模块的时候，总是报下面的错误，自己做了小小的修改，还是不能编译通过，求c++大神给点修改的建议。
报的错误：
严重性 代码 说明 项目 文件 行
错误 C4430 缺少类型说明符 - 假定为 int。注意: C++ 不支持默认 int okvis_multisensor_processing details.h 68
错误 C2143 语法错误: 缺少“,”(在“&”的前面) okvis_multisensor_processing details.h 68
错误 C2988 不可识别的模板声明/定义 okvis_multisensor_processing details.h 79
错误 C2238 意外的标记位于“;”之前 okvis_multisensor_processing details.h 79
错误 C2143 语法错误: 缺少“;”(在“&”的前面) okvis_multisensor_processing details.h 79
错误 C2059 语法错误:“&” okvis_multisensor_processing details.h 79
错误 C2334 “{”的前面有意外标记；跳过明显的函数体 okvis_multisensor_processing details.h 88
以下是details.h的代码

// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2009 Gael Guennebaud <[e-mail]>
// Copyright (C) 2009 Hauke Heibel <[e-mail]>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.

#ifndef EIGEN_STL_DETAILS_H
#define EIGEN_STL_DETAILS_H

#ifndef EIGEN_ALIGNED_ALLOCATOR
  #define EIGEN_ALIGNED_ALLOCATOR Eigen::aligned_allocator
#endif

namespace Eigen {

  // This one is needed to prevent reimplementing the whole std::vector.
  template <class T>
  class aligned_allocator_indirection : public EIGEN_ALIGNED_ALLOCATOR<T>
  {
  public:
    typedef size_t    size_type;
    typedef ptrdiff_t difference_type;
    typedef T*        pointer;
    typedef const T*  const_pointer;
    typedef T&        reference;
    typedef const T&  const_reference;
    typedef T         value_type;

    template<class U>
    struct rebind
    {
      typedef aligned_allocator_indirection<U> other;
    };

    aligned_allocator_indirection() {}
    aligned_allocator_indirection(const aligned_allocator_indirection& ) : EIGEN_ALIGNED_ALLOCATOR<T>() {}
    aligned_allocator_indirection(const EIGEN_ALIGNED_ALLOCATOR<T>& ) {}
    template<class U>
    aligned_allocator_indirection(const aligned_allocator_indirection<U>& ) {}
    template<class U>
    aligned_allocator_indirection(const EIGEN_ALIGNED_ALLOCATOR<U>& ) {}
    ~aligned_allocator_indirection() {}
  };

#ifdef _MSC_VER

  // sometimes, MSVC detects, at compile time, that the argument x
  // in std::vector::resize(size_t s,T x) won't be aligned and generate an error
  // even if this function is never called. Whence this little wrapper.
#define EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T) \
  typename Eigen::internal::conditional< \
    Eigen::internal::is_arithmetic<T>::value, \
    T, \
    Eigen::internal::workaround_msvc_stl_support<T> \
  >::type

  namespace internal {
  template<typename T> 
  struct workaround_msvc_stl_support : public T
  {
    workaround_msvc_stl_support() : T() {}

    //inline workaround_msvc_stl_support(const T& other) : T(other) {}
    workaround_msvc_stl_support(const T& other) : T(other) {}  

    operator T& () { return *static_cast<T*>(this); }

	operator const T& () const { return *static_cast<const T*>(this); }

    //template<typename OtherT>
    //inline T& operator=(const OtherT& other)
    //{ T::operator=(other); return *this; }

	template<typename OtherT> 
	T& operator=(const OtherT& other)
	{
		T::operator=(other); 
		return *this;
	}  

    //inline workaround_msvc_stl_support& operator=(const workaround_msvc_stl_support& other)
    //{ T::operator=(other); return *this; }
	workaround_msvc_stl_support& operator=(const workaround_msvc_stl_support& other)
	{
		T::operator=(other); 
		return *this;
	}

  };

  }

#else

#define EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T) T

#endif

}

#endif // EIGEN_STL_DETAILS_H

求大神给点解决的思路，或者有哪位大神用vs2015编译过okvis的代码，也可以交流一下，是不是我哪些库下的不对。

[greex]

是否有它自己的头文件没有加正确？

[xdzhangyiy]

details.h的代码就是上面的代码，它就没有依赖其它的头文件。