3D Rotation Model
	Projection equations 1. Project from image to 3D ray    (x0,y0,z0)    = (u0-uc,v0-vc,f) 2. Rotate the ray by camera motion    (x1,y1,z1)    = R01 (x0,y0,z0) 3. Project back into new (source) image    (u1,v1)   = (fx1/z1+uc,fy1/z1+vc)