Question 1 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...

Extracted text: Question 1 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: (