Consider a world coordinate system W, centered at the origin (x, y, z)T = (0,0,0)T , with axes given by unit vectors iˆ = (1,0,0)T , ˆj = (0,1,0)T , and kˆ = (0,0,1)T . There is a (frontal) pinhole camera placed at the origin with the same coordinate system as W and with the image plane at z = 3.
There is a rectangle with vertices at (-6,-3,6)T, (3,-3,6)T, (3,3,9)T, and (-6,3,9)T
What is the 3x4 perspective camera matrix? Calculate and plot the projection of the rectangle on the image plane.