Your vehicle has its right$-$hand base coordinate frame defined with the x$-$axis pointing forward into the driving direction and the z$-$axis upwards.

A camera is positioned on the vehicle as follows, in the vehicle coordinate frame:

x $=500$mm$,$ y $=160$mm$,$ z $=1140$mm

and the Euler angles ZY$$X$$

roll $=100\backslash$deg $,$ pitch $=0\backslash$deg $,$ yaw $=90\backslash$deg

Assume the camera has no distortion, a resolution of $1280$px $\backslash$times $1080$px$,$ and the principal point $($cx and cy$)$ and the focal lengths $($fx and fy$)$ are given by:

cx $=636$px$,$ cy $=548$px$,$ fx $=241$px$,$ fy $=238$px

The point $($u$,$v$)0$ is defined to be $($u$,$v$)0=(-$cx$,-$cy$)$ as commonly used.

Within the camera image plane, z$-$axis in viewing direction, an object center is detected at pixel:

u $=795$px$,$ v $=467$px

Another sensor determines the euclidian distance of the object to the camera frame as:

d $=2\mathrm{.}7$m

Calculate the $3$D position of the object in the vehicle coordinate frame in meter. Round to three decimals. Give the solution in the following format: x$,$ y$,$ z$,$ e$.$g$.1\mathrm{.}234,5\mathrm{.}678,9\mathrm{.}012$