There was error in the third row of the matrix, Need a one where there is a zero. It has been fixed (9/11/12 10:00PM)

guess these are missing in the final 4 x 1 matrix

row 1 : Uz Zm

row 2 : Vz Zm

row 3 : Nz Zm

take care of the cross products. A x B != B x A

so be careful while finding U( vup x n ) and V( n x u).

If you do the other way, the sign of < x,y,z > changes.

Some pts for rotation matrix validity check

1. dot product of any two rows/cols should be 'zero'

2. Magnitude of any row or col should be one , guess you can call it a unit vector.

I think there is a typo in the slide. Instead of the VRP, it should be VPN. The slides for the next lecture explain this same problem, and it has it as VPN.