title: How to find the rotation matrix between two coordinate systems?
body: <p>There are two coordinate systems. We know the 3D coordinates of the origin and the 3D vectors of the axes of the second coordinate system with respect to the first coordinates system. Then how can we find the rotation matrix that transforms the first coordinate system into the second coordinate system?</p>
  
  <p><a href="https://i.stack.imgur.com/LVuFq.jpg" rel="noreferrer"><img src="https://i.stack.imgur.com/LVuFq.jpg" alt="enter image description here"></a></p>