diff --git a/corelib/include/rtabmap/core/util3d_surface.h b/corelib/include/rtabmap/core/util3d_surface.h
index 68da1d48..0489281f 100644
--- a/corelib/include/rtabmap/core/util3d_surface.h
+++ b/corelib/include/rtabmap/core/util3d_surface.h
@@ -177,7 +177,11 @@ void RTABMAP_EXP concatenateTextureMaterials(
 pcl::TextureMesh::Ptr RTABMAP_EXP assembleTextureMesh(
 		const cv::Mat & cloudMat,
 		const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+		const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
+#else
 		const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
+#endif
 		cv::Mat & textures,
 		bool mergeTextures = false);
 
diff --git a/corelib/src/util3d_surface.cpp b/corelib/src/util3d_surface.cpp
index 98a976d5..e1648110 100644
--- a/corelib/src/util3d_surface.cpp
+++ b/corelib/src/util3d_surface.cpp
@@ -1194,7 +1194,11 @@ void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & image
 pcl::TextureMesh::Ptr assembleTextureMesh(
 		const cv::Mat & cloudMat,
 		const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+		const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
+#else
 		const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
+#endif
 		cv::Mat & textures,
 		bool mergeTextures)
 {