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Components of these three unit vectors form the rotation matrix
/ e ijx1 ey1 ez1 \
R = | ijex2 ey2 ez2 |
\ ex3 ey3 ez3 /
, where indexes "i" and "j" corresponds to the vector components in the setup and detector local coordinate frames, respectively. Within this definition 3-d pixel coordinate "c" in the detector frame can be transformed to the setup coordinate "C" using equation
Ci=eRij·cj + Pi.
Coordinate system of the detector
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