1. A point X in the world coordinate system is at [X,Y, Z 10000,20000, 100000] (in pixels). The parameters of a camera are: The world coordinates and the camera coordinates are the same. . The focal length F-1.5 mm The CCD sensor size = 5.0mm x 5.0mm. Horizontal pixel width s,-5m, and vertical pixel width s,-5m. The image sensor centre is at (2.5 mm, 2.5 mm) from the right bottom corner of the sensor The origin (1,1) of the image is at the right bottom corner. The x-coordinate is increasing from left to right, and y-coordinate is increasing from bottom to top. (a) Find the horizontal and vertical sizes of the image in pixels. (b) Find the image centre(O ) in pixels. (c) Find the focal length in pixels (d) Find the 3-D position of the point X in meters. 1. A point X in the world coordinate system is at [X,Y, Z 10000,20000, 100000] (in pixels). The parameters of a camera are: The world coordinates and the camera coordinates are the same. . The focal length F-1.5 mm The CCD sensor size = 5.0mm x 5.0mm. Horizontal pixel width s,-5m, and vertical pixel width s,-5m. The image sensor centre is at (2.5 mm, 2.5 mm) from the right bottom corner of the sensor The origin (1,1) of the image is at the right bottom corner. The x-coordinate is increasing from left to right, and y-coordinate is increasing from bottom to top. (a) Find the horizontal and vertical sizes of the image in pixels. (b) Find the image centre(O ) in pixels. (c) Find the focal length in pixels (d) Find the 3-D position of the point X in meters