16 JacobiSVD<Matrix<real,Dynamic,Dynamic>>svd(R,ComputeThinU | ComputeThinV);
21 Vector3 s = svd.singularValues();
27 Matrix3 D = Matrix3::Identity(3,3);
29 X = svd.matrixU()*D*svd.matrixV().transpose();
35 X = svd.matrixU()*svd.matrixV().transpose();
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