6. Consider the following camera model. Assume that first the camera gimbal center is at the origin of the world coordinates. Next, the camera is translated by amount (0,2,2), and it is rotated by angle 90 around Z axis, followed by rotation of 135 around X axis. Both rotations are in the clockwise directions. After that the camera (image plane) is translated by amount (.02,.01,.03) with respect to gimbal center. Finally, image is formed using perspective transform. Assume that focal length of the camera is .030. Find the image coordinates of the point which has world coordinates (1,1,0.2). 10. Given 33 rotation matrix, R, compute r in the Rodrigues' formula. 12. Given 33 rotation matrix, R, compute quaternion