 
   float T[4][4];
   multi4by4(T3, T21, T);
-  // printf("%d T: %0.4f %0.4f %0.4f %0.4f\n     %0.4f %0.4f %0.4f %0.4f\n     %0.4f %0.4f %0.4f %0.4f\n     %0.4f %0.4f %0.4f %0.4f\n", loopIndex, T[0][0], T[0][1], T[0][2], T[0][3], T[1][0], T[1][1], T[1][2], T[1][3], T[2][0], T[2][1], T[2][2], T[2][3], T[3][0], T[3][1], T[3][2], T[3][3]);
+  
   #if defined(__CUDA_ARCH__)
    for (int i = 0; i < 3; i++) {
       for (int j = 0; j < 4; j++) {


    case RigidTransformType3D:
    int *indices = d_indices + loopIndex * 3;
    // float *x = new float[9];
    // float *y = new float[9];
    // float *R22_1 = new float[9];
    // float *R22 = new float[27];

    estimateRigidTransform3D(d_coord, loopIndex, 3, indices, d_Rt_relative);

    // delete [] x;
    // delete [] y;
    // delete [] R22_1;
    // delete [] R22;

    break;
  }

  for (int i = 0; i < 4; i++) {
    quat[i] = V[i][ind];
  }

  float rot[9];
  quat2rot(quat, rot);
