docs: public void decompose( DMatrixRMaj U , DMatrixRMaj S , DMatrixRMaj V ) {
  		// this ensures the resulting rotation matrix will have a determinant of +1 and thus be a real rotation matrix
  		if( CommonOps_DDRM.det(U) < 0 ) {
  			CommonOps_DDRM.scale(-1,U);
  			CommonOps_DDRM.scale(-1,S);
  		}
  
  		if( CommonOps_DDRM.det(V) < 0 ) {
  			CommonOps_DDRM.scale(-1,V);
  			CommonOps_DDRM.scale(-1,S);
  		}
  
  		// for possible solutions due to ambiguity in the sign of T and rotation
  		extractTransform(U, V, S, solutions.get(0), true, true);
  		extractTransform(U, V, S, solutions.get(1), true, false);
  		extractTransform(U, V, S, solutions.get(2) , false,false);
  		extractTransform(U, V, S, solutions.get(3), false, true);
  	}