Convert from world to intrinsic coordinates

`[`

maps points from the 2-D world system
(`xIntrinsic`

, `yIntrinsic`

] = worldToIntrinsic(`R`

,`xWorld`

,`yWorld`

)`xWorld`

,`yWorld`

) to the 2-D
intrinsic system
(`xIntrinsic`

,`yIntrinsic`

) based on
the relationship defined by 2-D spatial referencing object
`R`

.

If the *k*th input coordinates
(`xWorld`

(*k*),`yWorld`

(*k*))
fall outside the image bounds in the world coordinate system,
`worldToIntrinsic`

extrapolates
`xIntrinsic`

(*k*) and
`yIntrinsic`

(*k*) outside the image
bounds in the intrinsic coordinate system.

`[`

maps points from the world coordinate system to the intrinsic coordinate system
using 3-D spatial referencing object `xIntrinsic`

,`yIntrinsic`

,`zIntrinsic`

] = worldToIntrinsic(`R`

,`xWorld`

,`yWorld`

,`zWorld`

)`R`

.