previous commit was wrong. I stripped out the Eigen code in the main loop and the method with normal equations is faster (although it has numerical stability issues. I should move to meters instead of mm at some point
previous commit was wrong. I stripped out the Eigen code in the main loop and the method with normal equations is faster (although it has numerical stability issues. I should move to meters instead of mm at some point

leonidk/ps1080test,leonidk/ps1080test