# How to decompose a 4×4 TRS transformation matrix with negative scale?

As the title says I need to decompose 4×4 TRS transformation matrices and extract the proper scale vectors and the proper rotation vectors (or rotation quaternions).

I know how to extract those information when the upper 3×3 matrix determinant is not negative. The problem is that those matrices can have that negative determinant and as far as I could understand, this negative determinant indicates a flip or mirrored transformation.

What do I have to do to extract the proper values for scale and rotation in those cases?