\begin{pmatrix} \mbox{\boldmath$X$} \\ 1 \\ \end{pmatrix} = \begin{pmatrix} \rm{R}^{T} & -\rm{R}^{T}\mbox{\boldmath$t$} \\ 0 & 1\\ \end{pmatrix} \begin{pmatrix} \mbox{\boldmath$x$} \\ 1 \\ \end{pmatrix}
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