 
     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;
   }

    x_centroid[i] = x_centroid[i] / pointCount;
    y_centroid[i] = y_centroid[i] / pointCount;
  }
  // QQ printf("%d x1: (%0.4f, %0.4f, %0.4f)\n", loopIndex, x_centroid[0], x_centroid[1], x_centroid[2]);
  // if (loopIndex == 6) {
  //   printf("Centroid: ");
  //   for (int j = 0; j < dim; j++) {
  //     printf("%0.4f ", x_centroid[j]);
  //   }
  //   printf("\n");
  // }

  // Get point coordinates relative to centroid
  for (int i = 0; i < pointCount; i++) {

      } 
    }
  }

  delete [] R22_1;
  delete [] R22;
  delete [] x;
