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negative direction of the X3 axis, where f is the focal length of the pinhole camera. A practical implementation of a pinhole camera implies that the image plane is located such that it intersects the X3 axis at coordinate -f where f > 0.
* A point R at the intersection of the optical axis and the image plane. This point is referred to as the principal point or image center.
* A point P somewhere in the world at coordinate relative to the axes X1, X2, and X3.
* The projection

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