Removed scaling from the umeyama when it is not requested.
Removed scaling from the umeyama when it is not requested.

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