Typo in Lesson 5

[LeeTeng2001]

Great guide! I found a minor type in Lesson 5.

Now image that we have another frame (O', i',j',k'). How do we transform coordinates given in one frame to another? First of all let us note that since (i,j,k) and (i',j',k') are bases of 3D, there exists a (non degenerate) matrix M such that:

to

Now imagine