1 | initial version |

I think what is missing here is a concrete math proof.

I came across this on the coursera website, see this link.

**Watch from 10:40 till the end**. I think it clearly explains ( taken from the above answer by @tbh )

"When referring to transform between coordinate frames (transforming the frames, it is the inverse of the transform of data between the two frames)"

2 | No.2 Revision |

I think what is missing here is a concrete math proof.

I came across this on the coursera website, see this link.

**Watch from 10:40 till the end**. ~~I think ~~

Read this **after** watching the above video once -

The video explains how to get source datapoint using the Rotation Matrix. The **opposite** ( by taking a simple transpose of Rotation matrix ) is true for
getting the **target data point in the source frame**, you have to use the **inverse** of the Rotation matrix ( Rotation required to convert **source to target** basis vectors )

Hence it ~~clearly ~~also explains ( taken from the above answer by @tbh )

"When referring to transform between coordinate frames (transforming the frames, it is the inverse of the transform of data between the two frames)"

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