#=======================
#c. Camera Orientations.
#=======================
print("=======================")
print("c. Camera Orientations.")
print("=======================")
from numpy.linalg import inv
fltTheta = -30
wx = 0
wy = 1
wz = 0
#Compute Camera Orientations.
quatmat_1 = np.array(np.eye(3))
quatmat_2 = poly.rotbyrotmat(quatmat_1, fltTheta, wx, wy, wz, 1)
quatmat_3 = poly.rotbyrotmat(quatmat_2, fltTheta, wx, wy, wz, 1)
quatmat_4 = poly.rotbyrotmat(quatmat_3, fltTheta, wx, wy, wz, 1)
print("The Camera Orientation at Frame 1 (quatmat_1) is:\n")
print quatmat_1
print("\n")
print("The Camera Orientation at Frame 2 (quatmat_2) is:\n")
print(quatmat_2)
print("\n")
print("The Camera Orientation at Frame 3 (quatmat_3) is:\n")
print(quatmat_3)
print("\n")
print("The Camera Orientation at Frame 4 (quatmat_4) is:\n")
print(quatmat_4)
print("\n")
