将3D点投影到2D

Question

我尝试使用相机姿势（位置和方向）转换3D点。 摄像头位置为（0,1400,0） 问题是投影的2D点没有标准化为（-1,1），其中0,0是屏幕的中心（图像）

这是我的方程式

  std::vector<Ogre::Vector2> projectedFeaturePoints;
        Core::CameraIntrinsics cameraIntrinsics = Core::EnvironmentInformation::getSingleton()->getCameraIntrinsics();
        for (int i = 0; i < out.numberofpoints; i++)
        {
            Ogre::Vector4 pt;
            pt.x = out.pointlist[i];
            pt.y = out.pointlist[(3*i) + 1];
            pt.z = out.pointlist[(3*i)+2];
            pt.w = 1;

            Ogre::Vector4 pnt = cameraPose.inverse()*pt;

            float x = ((pnt.x - cameraPosition.x)*cameraIntrinsics.focalLength.x)/pnt.z + cameraPosition.x;
            float y = ((pnt.y - cameraPosition.y)*cameraIntrinsics.focalLength.y)/pnt.z + cameraPosition.y;

            projectedFeaturePoints.push_back(Ogre::Vector2(x,y));

        }

一个样本值

Camera Position ( 0, 1400,0)

(Ogre::Vector4) pt = (x = 255.985977, y = -896.562255, z = 175.277557, w = 1)

(Ogre::Vector4) pnt = (x = 314.670929, y = -963.910278, z = -2083.82031, w = 1)

ProjectedPoint = (Ogre::Vector2) [0] = (x = -0.25423786, y = 1401.90991)