motion computation please expain 61 how to get the rotation

motion computation

please expain 6.1 ,how to get the rotation matrix and answer other question.

thank you

A train and a fly are speeding towards each other along a railroad track. A very small remote camera mounted on the fly has focal length f = 1, and coordinate axes x-y-z oriented with respect to world X-Y-Z axes as shown in the picture below. The train is moving with constant world velocity (100, 0, 0). The fly is moving with constant world velocity (-10, 0, 0). What is the rotation matrix that rotates world coordinate X-Y-Z axes into alignment with the camera coordinate x-y-z axes? 1 0 0 0 1 0 0 0 1 0 -1 0 -1 0 0 0 0 -1 0 0 -1 -1 0 0 0 -1 0 0 -1 0 0 0 1 -1 0 0 What is the relative velocity of the train measured with respect to the camera on the fly? (-10, 0, 0) (0, -10, 0) (0, -90. 0) (0, -110, 0) none of the above What is the FOE of the fly\'s motion in the camera view? (0, 0) (infinity, 0) (0, infinity) (1, 0) it cannot be determined unless we know the XYZ location of the fly

Solution

6.1) Matlab code to do this:

6.2) D. Since according to word vectors, the velocity of train is 100+10=110 in positive X and that is negative y in the camera vectors.