def verification_rot_tran_matrix(A, R, u, v, X, Y, Z):
    P = np.array([X, Y, Z, 1], dtype='double')
    pp = A.dot(R.dot(P))
    diff = (np.fabs((u - (pp[0] / pp[2]))) + np.fabs((v - (pp[1] / pp[2]))))
    print(u, v, '<->', (pp[0] / pp[2]), (pp[1] / pp[2]))
    return diff
def verification_rot_tran_matrix(A, R, u, v, X, Y, Z):
    P = np.array([X, Y, Z, 1], dtype='double')
    pp = A.dot(R.dot(P))
    diff = (np.fabs((u - (pp[0] / pp[2]))) + np.fabs((v - (pp[1] / pp[2]))))
    print(u, v, '<->', (pp[0] / pp[2]), (pp[1] / pp[2]))
    return diff