Check if matrix is rotation. Safe calculate dominant axes.

Summary: Add tests if rotation matrix check and default dominant axes calculation work.

Test Plan: Added additonal tests if imperfect rotation matrices are caught. Normal behaviour should be covered by current tests.

Reviewers: O1 MITK Core, kislinsk

Reviewed By: O1 MITK Core, kislinsk

Subscribers: kislinsk

Maniphest Tasks: T25682

Differential Revision: https://phabricator.mitk.org/D192