[eigen] Geometry module - Quaternion fitting alternative

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I've seen that Quaternion fitting is on the TODO list of the Geometry
module. Since we already have Umeyama
(http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=88573) in our
library and since we just switched to Eigen, I was thinking it might be
of interest to you.

I've added the Eigen'ified implementation as well as a small CMAKE style
unit test.

In case you have any comments, just let me know.


Attachment: Umeyama.zip
Description: Zip archive

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