The image to the right shows two coordinate frames: frame 1 (lower right) and frame 2 (upper left). The axes are in the order: x,y,z= Red, Green, Blue. Each of the stems are 100mm long. Estimate the pose of frame 2 with respect to frame 1. Explicitly, give estimated numbers (in meters) for the origin of frame 2 with respect to frame 1. Additionally, fill in terms for a 3x3 Rotation matrix that expresses the orientation of frame 2 with respect to frame 1. (Fill in numerical values for R, estimated from the provided image). Your R matrix will be approximate, but nonetheless each column should have unity magnitude and any two columns should be orthogonal. Label this result as frame 2 with respect to frame 1. Also, estimate the pose of frame 1 with respect to frame 2, with the same process as above. Label this result as R1/2 (a 3x3 matrix) and o1/2 (a 3x1 vector). 2) The files p1vecs.csv and p2vecs.csv each contain a set of 10, 3-D points. These points are ordered correspondingly, such that the first column of p1vecs is the same point as the first column of p2vecs (and so on). However, the values in p1vecs refer to coordinates in the 1 frame, and the values in p2vecs refer to coordinates with respect to the 2 frame. Find R2/1 (a 3x3 matrix) and o2/1 (a 3x1 vector) of frame 2 with respect to 1. Provide numerical values for each.