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. u  fx 0 cx  r11 r12 r13 t1 Xw
.s[v]=[ 0 fy cy][ r21 r22 r23 t2][ Yw]
. 1  0  0 1  r31 r32 r33 t3 Zw
.                  1
2D座標 ← カメラ座標 ← 3D座標

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