fixed more bugs, right triangle matching and right homogenious matrix generation, gives the right translation if not rotaition involved
fixed more bugs, right triangle matching and right homogenious matrix generation, gives the right translation if not rotaition involved

cogsys-tuebingen/csapex_core_plugins,cogsys-tuebingen/csapex_core_plugins,cogsys-tuebingen/csapex_core_plugins