1. Image formation - casting rays (015) There is given a matrix of camera intrinsic parameters Kint and its inverse Kint1 Kint=10000010006005001Kint1=0.010000.010651 The camera projection matrix is A=Kint[Rt] with R=I and t=(0,0,0)T 1. Find a parametric equation of the ray cast from the camera optical center and going through a pixel (100,200)T on camera sensor. 2. A fronto-parallel plane (parallel to image plane) is 7m away in front of the camera. Compute a point of the ray intersection with this plane. 3. The camera was rotated slightly and the plane remained in the same place. Repeat steps 1 and 2 assuming that the new rotation matrix R is given by R=10000.86600.500.50.8660 Use 5 decimal places for representation. All results should be given in global coordinates. Provide all intermediate results