Using Singular Value Decomposition (SVD) to calculate the rotation matrix for an (unknown) rigid body rotation using the method here:[br][url=http://nghiaho.com/?page_id=671]http://nghiaho.com/?page_id=671[br][/url][br][b]"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"[/b]