A point in 3D space has coordinates [-10,-40,500] mm relative to the camera reference frame. If the camera has an image plane at distance f'=33 mm from its optical centre, the CCD array is 10 mm by 14...

Extracted text: A point in 3D space has coordinates [-10,-40,500] mm relative to the camera reference frame. If the camera has an image plane at distance f'=33 mm from its optical centre, the CCD array is 10 mm by 14 mm and is divided into 340 by 240 pixels, and the image principal point is at coordinates [170,120] 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: (