PCL16.0 IterativeClosestPoint 编译报错

环境是VS2010 Win32，PCL16.0。按照书上的例程下来，在IterativeClosestPoint 处error，如下，

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>

#include <pcl/common/transforms.h>
#include <pcl/point_types.h>

#include <pcl/registration/icp.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/console/time.h>   // TicToc

void print4x4Matrix (const Eigen::Matrix4d & matrix)
{
  printf ("Rotation matrix :\n");
  printf ("    | %6.3f %6.3f %6.3f | \n", matrix (0, 0), matrix (0, 1), matrix (0, 2));
  printf ("R = | %6.3f %6.3f %6.3f | \n", matrix (1, 0), matrix (1, 1), matrix (1, 2));
  printf ("    | %6.3f %6.3f %6.3f | \n", matrix (2, 0), matrix (2, 1), matrix (2, 2));
  printf ("Translation vector :\n");
  printf ("t = < %6.3f, %6.3f, %6.3f >\n\n", matrix (0, 3), matrix (1, 3), matrix (2, 3));
}

int main ()
{
	// The point clouds we will be using
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in (new pcl::PointCloud<pcl::PointXYZ>);  // Original point cloud
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_tr (new pcl::PointCloud<pcl::PointXYZ>);  // Transformed point cloud
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_icp (new pcl::PointCloud<pcl::PointXYZ>);  // ICP output point cloud

  int iterations = 1;
  pcl::console::TicToc time;
  time.tic();
  if (pcl::io::loadPCDFile ("cloud.pcd", *cloud_in) < 0)
  {
    PCL_ERROR ("Error loading cloud %s.\n");
    return (-1);
  }
  std::cout << "\nLoaded file " << "cloud.pcd" << " (" << cloud_in->size () << " points) in " << time.toc () << " ms\n" << std::endl;

  // Defining a rotation matrix and translation vector
  Eigen::Matrix4d transformation_matrix = Eigen::Matrix4d::Identity ();

  // A rotation matrix
  double theta = M_PI / 8;  // The angle of rotation in radians
  transformation_matrix (0, 0) = cos (theta);
  transformation_matrix (0, 1) = -sin (theta);
  transformation_matrix (1, 0) = sin (theta);
  transformation_matrix (1, 1) = cos (theta);

  // A translation on Z axis (0.4 meters)
  transformation_matrix (2, 3) = 0.4;

  // Display in terminal the transformation matrix
  std::cout << "Applying this rigid transformation to: cloud_in -> cloud_icp" << std::endl;
  print4x4Matrix (transformation_matrix);

  // Executing the transformation
  pcl::transformPointCloud (*cloud_in, *cloud_icp, transformation_matrix);
  *cloud_tr = *cloud_icp;  // We backup cloud_icp into cloud_tr for later use

  // The Iterative Closest Point algorithm
  time.tic ();
  pcl::IterativeClosestPoint<pcl::PointXYZ,pcl::PointXYZ> icp;

  icp.setInputCloud (cloud_icp);
  icp.setInputTarget (cloud_in);
  icp.align (*cloud_icp);

  std::cout << "Applied " << iterations << " ICP iteration(s) in " << time.toc () << " ms" << std::endl;

  return (0);
}

更正，PCL的版本为1.6.0。代码如上。