1.两种不同类型的Eigen矩阵相加,或者赋值,需要用到cast函数:
Matrix3d m = Matrix3d::Random();
Matrix3f m2 = m.cast<float>();
Matrix3d m = Matrix3d::Random();
Matrix3f m2 = Matrix3f::Random();
Matrix3f m3 = m.cast<float>() + m2;
2.数组转化为Eigen::Matrix
int array[9];
cout << "colMajor matrix = \n" << Map<Matrix3i>(array) << endl; // map a contiguous array as a column-ma