RT orthonormal

[EveCharbie]

I think the link Micakel sent is the right way to do it :) So we need to include https://github.com/martinbis11/polar-decomposition-3x3.

[mickaelbegon]

Have a look here using Eigen3:
https://forum.kde.org/viewtopic.php?f=74&t=111895
https://eigen.tuxfamily.org/dox/group__TutorialGeometry.html

[pariterre]

So far, so good

[pariterre]

some more comments

[codecov]

Codecov Report

Merging #235 (23e114b) into master (562f298) will decrease coverage by 0.00%.
The diff coverage is 82.05%.

❗ Current head 23e114b differs from pull request most recent head a9fd7d5. Consider uploading reports for the commit a9fd7d5 to get more accurate results

@@            Coverage Diff             @@
##           master     #235      +/-   ##
==========================================
- Coverage   77.21%   77.20%   -0.01%     
==========================================
  Files          96       96              
  Lines       10378    10414      +36     
==========================================
+ Hits         8013     8040      +27     
- Misses       2365     2374       +9     

Impacted Files	Coverage Δ
include/Utils/Matrix3d.h	40.00% <ø> (ø)
src/Utils/Rotation.cpp	48.12% <22.22%> (-2.15%)	⬇️
src/Utils/Matrix3d.cpp	100.00% <100.00%> (ø)
test/test_utils.cpp	100.00% <100.00%> (ø)
src/Utils/String.cpp	83.78% <0.00%> (-2.71%)	⬇️

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[pariterre]

The windows failing bug is fixed in #236
If you are happy with these changes @EveCharbie I can already merge!

[pariterre]

LGTM :)