Merge branch 'master' into develop

Author: jingnanshi

doc/installation.rst

@@ -74,6 +74,7 @@ On Windows
 ^^^^^^^^^^
 
 Windows installation is not officially supported. However, you can try this repo `here <https://github.com/DrGabor/WinTeaser/>`_, courtesy of Di Wang at Xi'an Jiaotong University.
+In addition, if you encounter errors regarding Eigen on Windows, take a look `here <https://github.com/zhongjingjogy/use-eigen-with-cmake>`_.
 
 Compilation and Installation
 ----------------------------

examples/teaser_python_3dsmooth/line_mesh.py

@@ -73,7 +73,7 @@ def create_line_mesh(self):
                 axis_a = axis * angle
                 R = o3d.geometry.get_rotation_matrix_from_axis_angle(axis_a)
                 cylinder_segment = cylinder_segment.rotate(
-                    R, center=True)
+                    R, center=np.zeros([3, 1], dtype=np.float64))
             # color cylinder
             color = self.colors if self.colors.ndim == 1 else self.colors[i, :]
             cylinder_segment.paint_uniform_color(color)

examples/teaser_python_ply/teaser_python_ply.py

@@ -72,7 +72,7 @@ def get_angular_error(R_exp, R_est):
     print(T[:3, :3])
     print("Estimated rotation: ")
     print(solution.rotation)
-    print("Error (deg): ")
+    print("Error (rad): ")
     print(get_angular_error(T[:3,:3], solution.rotation))
 
     print("Expected translation: ")