Question 1 Not yet answered Marked out of 6.00 P Flag question A point in 3D space has coordinates [20,-20,500] mm relative to the camera reference frame. If the camera has an image plane at distance f'=31 mm from its optical centre, the CCD array is 17 mm by 14 mm and is divided into 320 by 220 pixels, and the image principal point is at coordinates [160,110) pixels, then determine the coordindates (in pixels) where the point will appear in the image using the pinhole camera model of image formation. ANSWER: Coordinates of point in image