code: def test_single_intrinsic_extrinsic_rotation():
      extrinsic = Rotation.from_euler("z", 90, degrees=True).as_dcm()
      intrinsic = Rotation.from_euler("Z", 90, degrees=True).as_dcm()
      assert_allclose(extrinsic, intrinsic)
  
imports: from __future__ import division, print_function, absolute_import
  import pytest
  import numpy
  from numpy.testing import assert_equal, assert_array_almost_equal
  from numpy.testing import assert_allclose
  from scipy.spatial.transform import Rotation, Slerp
  from scipy.stats import special_ortho_group
  from itertools import permutations
label_desc: Use image node_id 28 for calling a global function with example usage: test_single_intrinsic_extrinsic_rotation() without return types