I'm trying to calculate pixel coordinates of 3d points Xw = [150 200 350]
where R is given as
\begin{bmatrix} 1 & 0 & 0 \\ 0 & 1 & 0 \\ 0 & 0 & 1 \\ \end{bmatrix}
K is give as
\begin{bmatrix} -70\\ -95\\ -120\\ \end{bmatrix}
and ox and oy is 320x240. I'm using opencv 3.0 to do this and I get [533, 520] as an output. However, when I do manual calculation on paper, I got [493,465]. This is homework question. So I'm not looking for solution.I just want to know which one is the wrong one so that I can isolate the problem. Thanks