A camera is positioned on the vehicle as follows, in the vehicle coordinate frame:

x $=500$mm$,$ y $=160$mm$,$ z $=1140$mm

and the Euler angles ZY$$X$$

roll $=100\backslash$deg $,$ pitch $=0\backslash$deg $,$ yaw $=90\backslash$deg

Assume the camera has no distortion, a resolution of $1280$px $\backslash$times $1080$px$,$ and the principal point $($cx and cy$)$ and the focal lengths $($fx and fy$)$