9 (1 mark) A pinhole camera has focal length f= 500, pixel sizess, = 5,-I , and its principal point is at (o,o) (320,240). The world coordinate frame and the camera coordinate frame T where can be related by R and -170 -70 a) Write out the full 3x4 projection matrix that projects a point in the world coordinate frame onto the image plane in pixel coordinates. (b) What is the pixel coordinates of the projection of the world point Xw - 350 200 150] using the above projection matrix. 9 (1 mark) A pinhole camera has focal length f= 500, pixel sizess, = 5,-I , and its principal point is at (o,o) (320,240). The world coordinate frame and the camera coordinate frame T where can be related by R and -170 -70 a) Write out the full 3x4 projection matrix that projects a point in the world coordinate frame onto the image plane in pixel coordinates. (b) What is the pixel coordinates of the projection of the world point Xw - 350 200 150] using the above projection matrix