Image Rotation
[Direction Cosine Matrix](https://texonom.com/direction-cosine-matrix-0622b233d72a4ad68a923fe7f8a806be) 


[degree of freedom](https://texonom.com/degree-of-freedom-d848e57b9c524973b625d99f43f66bb8) is 1 (when 3x3 matrix)











