matrixV(); // 计算旋转 和平移矩阵 R 和 t, R= V *M* UT double det = (U * V.transpose()).determinant(); Eigen::Matrix2d M; M << 1, 0, 0, det; Eigen::Matrix2d R_ = V * M * (U.transpose()); std::cout << R_ << std::endl; printf("ag: %f\n", acos(R_(0, ...