Points

1

2

3

4

5

6

3D world coordinate

X

Y

Z

X

Y

Z

X

Y

Z

X

Y

Z

X

Y

Z

X

Y

Z

2.8

1.5

7.6

4.2

1.5

7.6

2.92

0.7

5.1

3.52

0.7

5.1

2.92

0.7

2.1

3.52

0.7

2.1

2D pixel coordinate

u

v

u

v

u

v

u

v

u

v

u

v

1555

880

2007

881

1743

1236

2030

1235

1924

1781

2652

1780