/*Copyright (c) 2023, NVIDIA CORPORATION.  All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto.  Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
*/


#pragma once

// STL
#include <iostream>
#include <string>
#include <map>
#include <vector>
#include <cmath>
#include <time.h>
#include <queue>
#include <climits>
#include <tuple>
#include <unordered_map>
#include <boost/assign.hpp>
#include <thread>
#include <Eigen/Dense>
#include <Eigen/Geometry>
#include <string>
#include <limits.h>
#include <unistd.h>
#include <memory>
#include <math.h>
#include <boost/format.hpp>
#include <numeric>
#include <thread>
#include <omp.h>


using vectorMatrix4f = std::vector<Eigen::Matrix4f,Eigen::aligned_allocator<Eigen::Matrix4f>>;


namespace Utils
{
float rotationGeodesicDistance(const Eigen::Matrix3f &R1, const Eigen::Matrix3f &R2);

} // namespace Utils