XcYcZc=RXwYwZw+T. This is a continuation of the setting above. Assume that the camera is mounted on a car. Here assume a static situation where the car is not moving. The ground plane is still Yw=0. Assume that T=(0,h,0)T is the world's origin in camera coordinates and that the optical axis Zc of the camera is parallel to the Yw=0 plane (the image plane is vertical if the ground plane is horizontal). Assume that the yaw angle between Zc and Zw is . Continue assuming that pixel coordinates relate to camera coordinates as u=fXc/Zc and v=fYc/Zc (a) Write the projective transformation from ground plane coordinates (Xw,Zw) to pixel coordinates (u,v). Your matrix should be expressed in terms of ,h,f. (b) Now assume that a line designating the right lane on the ground plane is parallel to the Zw axis and passes through Xw=d. Compute the projection of this line in the image plane and call it (A,B,C) meaning that the line equation in pixels will read Au+Bv+C=0. Write (A,B,C) in terms of ,h,f,d. (c (A,B,C) as any line coefficients in P2 (and in high school euclidean geometry) can be computed up to a scalar multiple. Given (A,B,C) up to a scale, compute d and given f and h