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x

y

z

n

v

u

n = N/|N| = (n1, n2, n3)

P=(px, py, pz)

N=(P-O)

V=(0,1,0)

u = (VxN)/|VxN| = (u1, u2, u3)

v = nxu = (v1, v2, v3)

u1 v1 n1 px

u2 v2 n2 py

u3 v3 n3 pz

0 0 0 1

Mvc->wc=RT=

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