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   Orthogonalize a matrix 

   m = m/sqrtm(m'*m);

   so that m'*m = eye(3)

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   Form:
   m = Orthogonalize( m )
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   ------
   Inputs
   ------
   m               (3,3)  Matrix

   -------
   Outputs
   -------
   m               (3,3)  Orthogonal atrix

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