0.707 0.707 0 4. (10 points) Given WRC-1 1 0.707 0.707 0 0 and tc (9 0 -4)', where W, C and wtc = (9 0-1)T, where W, C 0 0 represent World and Camera frames respectively, (a). Draw the coordinate axis for the world and depict where is the camera in the world space. (b). Using perspective projection theory estimate what will the size of a 40m x 40m rectangular window be on the projected camera image (in pixels)? Focal length f - 3mm and pixel side length s = 511m (1/LTn = 10-6m Ans (b00014 pixels x 0.0010 pixels)(6000 pixels x 6000 pixels) 0.003*40 0.003*40 5. (10 points) A camera coordinate system is such that the transformation matrix is same as in problem (4). Also s Sy1, f 80, or, oy -200,200 respectively (all in pixel units) (a) What is the camera matrix? Depict the intrinsic and extrinsic matrices accordingly. (Camera matrix M- Mintrinsic Meatrinsic) (b). Consider the corner of an object whose coordinates with respect to the reference frame are P = (1 1 0,-. What is the pixel value of this corner? Show all work and clearly label each stage 0.707 0.707 0 4. (10 points) Given WRC-1 1 0.707 0.707 0 0 and tc (9 0 -4)', where W, C and wtc = (9 0-1)T, where W, C 0 0 represent World and Camera frames respectively, (a). Draw the coordinate axis for the world and depict where is the camera in the world space. (b). Using perspective projection theory estimate what will the size of a 40m x 40m rectangular window be on the projected camera image (in pixels)? Focal length f - 3mm and pixel side length s = 511m (1/LTn = 10-6m Ans (b00014 pixels x 0.0010 pixels)(6000 pixels x 6000 pixels) 0.003*40 0.003*40 5. (10 points) A camera coordinate system is such that the transformation matrix is same as in problem (4). Also s Sy1, f 80, or, oy -200,200 respectively (all in pixel units) (a) What is the camera matrix? Depict the intrinsic and extrinsic matrices accordingly. (Camera matrix M- Mintrinsic Meatrinsic) (b). Consider the corner of an object whose coordinates with respect to the reference frame are P = (1 1 0,-. What is the pixel value of this corner? Show all work and clearly label each stage