$($d$)$ A common approach to calibrating a camera is to image a set of

known target $3$D points and identify each corresponding $2$D

image point. The resulting set of correspondences can then be

used to form a homogeneous linear system where the unknowns

to be estimated are the $12$ elements of the $34$ camera matrix.

Such a homogeneous system can be written as:

$Ax=0$

where, each correspondence results in a pair of constraints i$.$e$.$

two rows of the A matrix.

Provide a definition of the structure of the rows of the A matrix for

a given correspondence $(x,Y,Z)harr(x,y).$

If a $3D$ world point $(60,15,0)$ on the calibration target projects to

an image point $(487\mathrm{.}9,29\mathrm{.}5),$ write down the resultant rows of the

A matrix.