Finding the rotation matrix for a rigid body rotation (SVD)

Author:: Michael Borcherds

Topic:: Rotation

Using Singular Value Decomposition (SVD) to calculate the rotation matrix for an (unknown) rigid body rotation using the method here: http://nghiaho.com/?page_id=671 "SVD is like this powerful magical wand in linear algebra for solving all sorts of numerical problems, but tragically wasn’t taught when I was at uni"

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