I think the answer is wrong...
A = T * [PB; 1];
P = A(1:2, 1);
what is wrong with this solution!
I think this problem is wrong. It should use the homogeneous transformation matrix not its inverse!
The 3rd test here is wrong.
Inner product of two vectors
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Determine roll pitch yaw angles from a 3D rotation matrix
Relative points in 2D: problem 3
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