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A geometric interpretation of the cross product


Tensor basic definition


Avoid SVD to compute optimal rotation between point sets

Draft note


Polar decomposition of a 3x3 matrix

Leaving [  C++ code ] to decompose a 3x3 matrix into rotation and scale/shear with polar decomposition.


Gradient rules

Cheat sheet to differentiate expressions with the \( \nabla \) operator to compute gradients of various functions.


Singular value decomposition of a 2x2 matrix (C++ code)

Dropping some [ code here] to do a singular value decomposition (SVD) of a 2 by 2 real matrix.


C code for 4x4 matrix inversion

Just leaving some code here to invert either column or row major 4x4 matrices.



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