2D坐标系与3D坐标系的相互转换

[ f x 0 c x 0 f y c y 0 0 1 ]

⎡⎣⎢⎢⎢⎢⎢⎢fx000fy0cxcy1⎤⎦⎥⎥⎥⎥⎥⎥$$\left[\begin{array}{ccc}{f}_x& 0& c_x\\ \\ 0& f_y& c_y\\ \\ 0& 0& 1\end{array}\right]$$