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# Design a program to get the rotation matrix from XYZ to xyz.

INSTRUCTIONS TO CANDIDATES

1 Rotation Matrix (4 points)

Figure 1 illustrates the transformation from coordinate xyz to XYZ: 1)rotate around z axis with α;

2) rotate around x axis with β; 3) rotate around z axis with γ. α, β, and γ are all given in angles (not radians), and 0◦ < α, β, γ < 90◦.

Design a program to get the rotation matrix from xyz to XYZ. (2 points)

Design a program to get the rotation matrix from XYZ to xyz. (2 points)

Figure 1: Illustration of Eular angles We may test your code using different α, β, and γs in grading.

2 Camera Calibration (6 points)

Preliminary.1.

The projection from world coordinate to image plane can be indicated by intrinsic parameters (Camera) and extrinsic parameters(World). From world coordinate to camera coordinate, the extrinsic parameters can be used as

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