Using the pinhole camera model. estimate the (x, y, z) coordinates in the camera frame of a point which coordinates in the image are (u, v)=(200,200) pixels. assume the point belong to planar surface located 5m in front of the camera, the camera's principal point is at coordinates (0,0,f) (i. e., uo= 160 and vo = 120), focal length is 0.015 and the pixel dimensions are p ph=10 x 10-6 a