Frames to versor algorithm

From an orthogonal automorphism of a real geometric algebra with indefinite regular metric is constructed an algorithm calculating the corresponding versor. If the algorithm works with an orthonormal basis there are no exceptions.
Some modifications are discussed.
Similarities and conformal geometric algebra are essential for image processing, and therefore are by suggestion of A. Arsenovic relevant extensions of the algorithm included.
Some probability considerations for the definite main case are included.
The mathematical background may be found in Direct Construction of Geometric Algebra Structures.

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Frames to versor algorithm v2.03