system form the elements of the orientation matrix 
11 
21 
31 
Specifically, 
11 
31 
12 
22 
32 
13 
23 
R3 
  
conditions of orthogonality of the matrix. 
12 
22 
32 
cos 
cos 
cos 
cos 
cos 
cos 
cos 
cos 
cos 
Xx 
Xy 
Xz 
vx 
Yy 
Yz 
Zx 
Zy 
ZZ 
= 
N {rh 
Computation of the orientation matrix elements can be 
The direction cosines of the positive X, Y and Z axes in the xyz coordinate 
for camera pointing 
upward, 
for camera pointing 
downward. 
for camera pointing 
upward, 
for camera pointing 
downward. 
for camera pointing 
upward, 
for camera pointing 
downward. 
checked by employing the 
(38) 
(393 
(40) 
(41) 
(42) 
(43) 
(44) 
(45) 
(46)