in eulerAngles() please replace >0?1:-1 with >Scalar(0)?Scalar(1):Scalar(-1)
https://bitbucket.org/eigen/eigen/commits/45129821f1d1/ Changeset: 45129821f1d1 User: ggael Date: 2013-06-10 12:03:55 Summary: Fix bug 598: add explicit cast to Scalar type
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