R = [1.0000, 0, 0; 0, -1.0000, -7.346410206643586e-06; 0, 7.346410206643586e-06, -1.0000;];
[v, d] = eig(R);
% v =% 0.0000 + 0.0000i 0.0000 + 0.0000i 1.0000 + 0.0000i% 0.7071 + 0.0000i 0.7071 + 0.0000i 0.0000 + 0.0000i% 0.0000 - 0.7071i 0.0000 + 0.7071i 0.0000 + 0.0000i% d =% -1.0000 + 0.0000i 0.0000 + 0.0000i 0.0000 + 0.0000i% 0.0000 + 0.0000i -1.0000 - 0.0000i 0.0000 + 0.0000i% 0.0000 + 0.0000i 0.0000 + 0.0000i 1.0000 + 0.0000i
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