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where []' indicates inverse of the matrix. <br \>
With this, we have found an appropriate Rotation Matrix. <br \>
Notice that in general, s and m may not be perpendicular. So if we directly used t_1 = s and t_2 = m, the matrix we get by this method may not be orthogonal. When we construct orthogonal vectors from these, we are in effect reducing a constraint of the equation and making the equations solvable.
== References ==
