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3. Question 3: (a) An important parameter of the camera is the field of view (FOV). It is the open observable angle of the camera. Imagine that you have a camera system with focal length f = 16mm, and the size of its image plane (height x width) is 16mm x 12mm. Compute the FOV (in horizontal and vertical directions) and present how the FOV related to the focal length when fixing image plane size. (5 marks) (b) Write down the relationship (the projection) when projecting a point in 3D expressed in the camera coordinate system onto the image pixel coordinate system. (10 marks). (c) Select True or False for each below statement. (1) Perspective projection preserves angles. (ii) Perspective projection preserves parallelism. (iii) In general, straight lines in 3D will be projected onto straight lines in image plane with perspective projection. (iv) The rigid (Euclidean) transformation which is defined by a rotation and a translation preserves the angles. (v) The rigid (Euclidean) transformation preserves the parallelism