3 Extrinsic Parameter 1. Given a 3D point M (M = [u,v,w]*) in the world coordinate. Write the formulation to calculate the new 3D point M under the rotation R around the world origin and transformation T (IT, Ty,T) 2. If M is only rotated about the Z-axis with , write the specific rotation matrix R. 3. Suppose that M 0.5, 1.6, 1.0]T (in meters), rotation is R caused by the three rotations angles (91,92,%), where [a,B2, 3-10.1, 0.2, 0.3) (in degrees), and translation is T-[0.2,0.5, 0.11T (in me- ters). Calculate the new 3-D position. Hint for (c) and (d): When the angles of rotation are small (below 5 degrees), R 2 -9z | , where (4,0y,%) are small rotation angles around (X, Y, Z) axes respec- tively