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ycosθ / sinθ ⟹ x′ = x - ycotθ Now that we found (𝑥′, 𝑦′), let’s incorporate them into the equation. We just have to replace the old coordinates with these new coordinates. u = 𝛼 * (x - ycotθ)/z + x0 v = 𝛽 * (y / sinθ)/z + y0 ⟹ u = 𝛼x/z - (𝛼y/z)cotθ + x0 ⟹ v = (𝛽y / zsinθ) + y0 The Camera Intrinsic