Computing the Pixel Coordinates of a 3D Point---计算3D点的像素坐标

1. Perspective Projection 透视投影

2. 计算3D point的2D Coordinates的数学知识

从这个翻译上来看的话，是如何把3D空间中的一个点放到2D map里，然后得到在2D map里对应的坐标。

2.1 从头到尾解释找到3D point的2D pixel坐标

之前的章节已经讨论了perspective projection process which is used to convert the position of that point in 3D space to a position on the surface of the image.(3D 空间里的点投到image表面的position就是依据的perspective Projection). but this position is not expressed in terms of pixels coordinates 意思是：是在2D image surface上有点了，但是不是具体的坐标形式

So how do we actually find the final 2D pixel coordinates of the projected point in the image?