title: SVD not giving Rotation and Translation matrix from stereo essential matrix
body: <p>I am trying to extract rotation and translation from the fundamental matrix. I used the intrinsic matrices to get the essential matrix, but the SVD is not giving expected results. So I composed the essential matrix and trying my SVD code to get the Rotation and translation matrices back and found that the SVD code is wrong.</p>
  <p>I created the essential matrix using Rotation and translation matrices</p>
  <pre><code>R = [[ 0.99965657,  0.02563432, -0.00544263],
          [-0.02596087,  0.99704732, -0.07226806],
          [ 0.00357402,  0.07238453,  0.9973704 ]]
  T = [-0.1679611706725666, 0.1475313058767286, -0.9746915198833979]
  tx = np.array([[0, -T[2], T[1]], [T[2], 0, -T[0]], [-T[1], T[0], 0]])
  E = R.dot(tx)
  // E Output: [[-0.02418259,  0.97527093,  0.15178621],
          [-0.96115177, -0.01316561,  0.16363519],
          [-0.21769595, -0.16403593,  0.01268507]]
  </code></pre>
  <p>Now while trying to get it back using SVD.</p>
  <pre><code>U,S,V = np.linalg.svd(E)
  diag_110 = np.array([[1, 0, 0], [0, 1, 0], [0, 0, 0]])
  newE = U.dot(diag_110).dot(V.T)
  U,S,V = np.linalg.svd(newE)
  
  W = np.array([[0, -1, 0], [1, 0, 0], [0, 0, 1]])
  Z = np.array([[0, 1, 0],[-1,  0,  0],[0,  0,  0]])
  
  R1 = U.dot(W).dot(V.T)
  R2 = U.dot(W.T).dot(V.T)
  
  T  = U.dot(Z).dot(U.T);
  T = [T[1,0], -T[2, 0], T[2, 1]]
  
  '''
  Output
  R1 :   [[-0.99965657, -0.00593909,  0.02552386],
          [ 0.02596087, -0.35727319,  0.93363906],
          [-0.00357402, -0.93398105, -0.35730468]]
  R2 :   [[-0.90837444, -0.20840016, -0.3625262 ],
          [ 0.26284261,  0.38971602, -0.8826297 ],
          [-0.32522244,  0.89704559,  0.29923163]]
  T :    [-0.1679611706725666, 0.1475313058767286, -0.9746915198833979],
  '''
  </code></pre>
  <p>What is wrong with the SVD code? I referred the code <a href="https://en.wikipedia.org/wiki/Essential_matrix" rel="nofollow noreferrer">here</a> and <a href="https://stackoverflow.com/questions/35161002/rotation-and-translation-from-essential-matrix-incorrect">here</a></p>