backup camera with pioneer hu

Hey all,
I just bought me a 2005 f150 supercrew and the previous owner installed a pioneer avh2300dvd touchscreen head unit. It is nice, but Im having a big issue installing my backup camera hardwiring it in to the pioneer.
The backup camera is here... https://www.vr-3.com/category.php?c=back-up-cameras
I am not using the wireless aspect of it with its own monitor. I am hardwiring it into the pioneer. I bought the camera used and someone cut the wires. Coming off of the camera there are 3 small wires ( red, black and yellow ) then a small antenna for the wireless...which we will disregard.
I found out that the yellow wire is my video access, but this wire was supposed to be connected to a 3.5mm female plug ( which previous owner cut off , leaving me with just a yellow wire )
My headunit has a rca port for the rear camera input and a violet / white striped wire for the camera rear light sensing ( for reverse ).

It seems I need to make the yellow wire turn into a rca plug in order to plug into the back of the head unit.
How do I do this ?

Any help would be greatly appreciated.
Thanks in advance.

Go to your local stereo shop and purchase an RCA cable long enough to reach from the yellow wire to the back of the deck. Plug one end of that cable into the back of the radio and route the cable to where the yellow wire is located. When you get it to the vicinity of the wire, cut the RCA cable and strip off the outer insulation. Then peel the shield of the cable away from the center conductor. Twist the shields together and ground that to the chassis or the ground wire you mentioned earlier. Strip the center conductor and attach that wire to the yellow wire.

Oh, I think I missed the point about tying the ground of the camera into the rca ground. I had the backup camera ground going to the rca, but not actually to the chasis.
Thanks man.
I love this site. Excellent help