assda

pi [[-1.29745615e-02  0.00000000e+00 -6.68587095e-02]
 [-7.42473586e-02 -1.73472348e-18 -3.82601184e-01]
 [-1.81865966e-01  0.00000000e+00 -9.37166458e-01]]
inv_pi [[-0.01214971 -0.0695271  -0.17030387]
 [ 0.          0.          0.        ]
 [-0.06260818 -0.35827739 -0.87758628]]
delta [[0.00125792]
 [0.00719852]
 [0.01763248]]
delta_c [[-0.00351866]
 [ 0.        ]
 [-0.01813185]]

print(math.acos(R3[0])*180/3.14,math.acos(R3[1])*180/3.14,math.acos(R3[2])*180/3.14)

93.82641382731323 112.2139356543233 157.56882355455903

B , G , R

------R3-----

[Cz dot Wx]

[Cz dot Wy]

[Cz dot Wz]