How to Transform of coordinate of actors from vehicle coordinate to world coordinate or refference coordinate system (ADAS toolbox) ...?

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egoWaypoints = ;   % ego vehicle waypoints wrt world coordinate.
egoAngle = atan(diff(egoWaypoints(:,1))./diff(egoWaypoints(:,2)));
egoAngle(end+1) = egoAngle(end); 
tempX = ; % X coordinate wrt to Vehicle coordinate system from sensor fusion
tempY = ; % Y coordinate wrt to Vehicle coordinate system from sensor fusion
relX = tempX.*sin(abs(egoAngle(1:length(tempX))))-tempY.*cos(abs(egoAngle(1:length(tempX))));
relY = -tempX.*cos(abs(egoAngle(1:length(tempX))))-tempY.*sin(abs(egoAngle(1:length(tempX))));
absX   = egoWaypoints(1:length(tempX),1)+relX;
absY = egoWaypoints(1:length(tempX),2)+relY;