Leman FENG

[transformPointcloud] The fourth entry of point is changed during SE3/SO3 transformation

2

**Describe the bug** In release 1.9.0, After the commit `04ae840eb43c78f0e348c35271932c5d6d350759`, "Improve speed of transformPointCloud/WithNormals() functions by SSE2/AVX intrinsic", the behavior of transformPointCloud is changed. In the old [code](https://github.com/PointCloudLibrary/pcl/commit/04ae840eb43c78f0e348c35271932c5d6d350759#diff-e229d9f3daf397b46e02b79e35ac2655c90e287b88748965506ae234ce37734dL65), the x,y,z...

Numerical issue and bugs in LQR solver

1

I found the LQR solver will give a very unstable result for a input of constant velocity straight trajactory. After digging into the code, I found the following issue: 1....

https://github.com/myscience/open-genie/blob/732b9f9b746f18fff1a0fb22f83638224f2f7cc6/genie/module/quantization.py#L125 ```python entropy_loss = inp_ent + self.diversity_weight * avg_ent ``` This line should be ```python entropy_loss = inp_ent - self.diversity_weight * avg_ent ```

https://github.com/myscience/open-genie/blob/732b9f9b746f18fff1a0fb22f83638224f2f7cc6/genie/module/attention.py#L290C26-L290C37 ```python b, *t, h, w, c = video.shape ``` should be: ```python b, *t, h, w, c = inp.shape ```