\begin{multline} \begin{pmatrix}x\\ y\\ z\\ \end{pmatrix}= \end{multline} \begin{multline} \begin{pmatrix}cos(R)cos(Y)-sin(P)sin(R)sin(Y)&cos(Y)sin(R)+cos(R)sin(P)sin(Y)&cos(P)sin(Y)\\ -cos(R)sin(Y)-cos(Y)sin(P)sin(R)&cos(R)cos(Y)sin(P)-sin(R)sin(Y)&cos(P)cos(Y)\\ cos(P)sin(R)&-cos(P)cos(R)&sin(P)\\ \end{pmatrix}\begin{pmatrix}(x^{{}^{\prime}}-cx)\frac{\text{DCT}}{\text{fk}}\\ (y^{{}^{\prime}}-cy)\frac{\text{DCT}}{\text{fl}}\\ \text{DCT}\\ \end{pmatrix}+\begin{pmatrix}\text{cposx}\\ \text{cposy}\\ \text{cposz}\\ \end{pmatrix} \end{multline}
(1)