PDF-angle ,therollangle andtheheightZofthecamera(cf.g.1).Sincetheazimuth
nY
arctannX
nY2andnTNtan
1tan WithoutlossofgeneralitytheprojectioncenterZ00ZTischosenTheoriginoftheobjectcoordinatesystemliesinthereferenceplanetheZaxisrunsthroughtheprojec
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