9. (1 mark) A pinhole camera has focal length f = 500, pixel sizess,-3,-1 , and ne an camera coordinate frame can be related by R and T where 1 00- -1701 (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- 350 220 150] using the above projection matrix. 9. (1 mark) A pinhole camera has focal length f = 500, pixel sizess,-3,-1 , and ne an camera coordinate frame can be related by R and T where 1 00- -1701 (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- 350 220 150] using the above projection matrix