def get_project_xy(A, R, X, Y, Z):
    P = np.array([X, Y, Z, 1])
    pp = A.dot(R.dot(P))
    return [(pp[0] / pp[2]), (pp[1] / pp[2])]
def get_project_xy(A, R, X, Y, Z):
    P = np.array([X, Y, Z, 1])
    pp = A.dot(R.dot(P))
    return [(pp[0] / pp[2]), (pp[1] / pp[2])]