YOU_MIXED_DIFFERENT_NUMERIC_TY error in using PCL with VS 2010

Question

I am compiling an opensource c++ program which uses PCL and OPENCV. The problem seems to be types transformation between different Eigen objects.

c:\\program files (x86)\\pcl 1.6.0\\3rdparty\\eigen\\include\\eigen\\src\\core\\matrix.h(294): error C2338: YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY

Code about Eigen in the program:

    cv::Mat R;
cv::Rodrigues( result.rvec, R );
Eigen::Matrix3d r;
cv::cv2eigen(R, r);

// 将平移向量和旋转矩阵转换成变换矩阵
Eigen::Isometry3d T = Eigen::Isometry3d::Identity();

Eigen::AngleAxisd angle(r);
cout<<"translation"<<endl;
Eigen::Translation<double,3> trans(result.tvec.at<double>(0,0), result.tvec.at<double>(0,1), result.tvec.at<double>(0,2));
T = angle;
T(0,3) = result.tvec.at<double>(0,0); 
T(1,3) = result.tvec.at<double>(0,1); 
T(2,3) = result.tvec.at<double>(0,2);

// Transform point clouds
cout<<"converting image to clouds"<<endl;
PointCloud::Ptr cloud1 = image2PointCloud( frame1.rgb, frame1.depth, camera );
PointCloud::Ptr cloud2 = image2PointCloud( frame2.rgb, frame2.depth, camera );

// Combine point clouds
cout<<"combining clouds"<<endl;
PointCloud::Ptr output (new PointCloud());
pcl::transformPointCloud( *cloud1, *output, T.matrix() );   // error occurs at this line, the compiler told.
*output += *cloud2;

error message:

1>c:\\program files (x86)\\pcl
1.6.0\\3rdparty\\eigen\\include\\eigen\\src\\core\\matrix.h(294): error C2338:
YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_ TO_CAST_NUMERIC_TYPES_EXPLICITLY 1> f:\\cpps\\win32project1\\win32project1\\jointpointcloud.cpp(88) : see
reference to function template instantiation
'Eigen::Matrix<_Scalar,_Rows,_Cols>::Matrix(const
Eigen::MatrixBase &)' being compiled 1> with 1> [ 1> _Scalar=float, 1> _Rows=4, 1> _Cols=4, 1> Derived=Eigen::Matrix 1> ] 1> f:\\cpps\\win32project1\\win32project1\\jointpointcloud.cpp(88) : see
reference to function template instantiation
'Eigen::Matrix<_Scalar,_Rows,_Cols>::Matrix(const
Eigen::MatrixBase &)' being compiled 1> with 1> [ 1> _Scalar=float, 1> _Rows=4, 1> _Cols=4, 1> Derived=Eigen::Matrix 1> ] ========== Build: 0 succeeded, 1 failed, 0 up-to-date, 0 skipped ==========

Answer 1

The transformPointCloud methods in PCL 1.6 expect the transformation matrix to be in float format ( link ). You need to write

pcl::transformPointCloud( *cloud1, *output, T.cast<float>() );

The .matrix() conversion is actually not necessary.