Question 4. Motion Computation (18 points, 6 pts each) A) A train and a fly are speeding towards each other along a railroad track. A camera mounted on the front of the train has focal length f=1. and coordinate axes x-y-z ortented with respect to world U-V-W axes as shown in the picture below. The train 1s moving with constant world velocity (100,0,0). The fly is moving with constant world velocity (-10.0.0). .x /] Camera i/ coords _ 7 *1 | - ; - o T World| A" coords U 4.1) What 15 the rotation matrix that rotates world coordinate U-V-W axes into alignment with the camera coordinate x-y-z axes? 100 0 0 1 0 -1 0 0 0 -1 010]| B D =1 0| ) o o 1| D)|[-1 0o o 001 1 0 0 -1 0 0 0 1 0 4.2) What 1s the relative velocity of the fly with respect to the camera on the train? A) (0, 0. -110) B) (0, 0. -10) C)(0, 0, %) D) (-10 ,0, 0) E) none of the above 4.3) What 1s the FOE of the translational motion field in the film plane of the camera on the train? Recall that the FOE is the 2D location in the film plane where a 3D velocity vector in camera coordinates would pass through / intersect the film plane Ay(L 0D B) (0, 0) O (-10, 0) D) (-110, 0) E) none of the above