$$\begin{aligned} & \begin{gathered} \dfrac{x' - c_x}{f_x} = \dfrac{\cos \theta * X +\sin \theta * Z + t_1}{-\sin \theta * X + \cos \theta * Z + t_3} \\ \dfrac{y' - c_y}{f_y} = \dfrac{Y + t_2}{-\sin \theta * X + \cos \theta * Z + t_3}...