Fix Bug 807: Missing scalar type cast in umeyama()
Fix Bug 807: Missing scalar type cast in umeyama()

rotorliu/eigen,madlib/eigen_backup,rotorliu/eigen,madlib/eigen_backup,mjbshaw/Eigen,madlib/eigen_backup,mjbshaw/Eigen,mjbshaw/Eigen,madlib/eigen_backup,mjbshaw/Eigen,rotorliu/eigen,rotorliu/eigen