相机生成图像坐标（已知相机的内外参数矩阵，和空间目标点的位姿，反推生成图像坐标）

% initia the terminal
clear; 
clc;

% the initial position
P = [10;10;10];

%% [u,v,1] = 1/s * K * (T * P)_1:3
% T = [R t;0 1]
% solve the u,v, set the T and K
%-------set the T-----
R = eul2rotm([0,-pi/2,0]);
t = [0;10;100];

%(T * P)_1:3 = R*P+t
%----set the K-----
fx = 1500;
fy = 1500;
cx = 500; 
cy = 400;
K = [fx,0,cx;0,fy,cy;0,0,1];

sU = K * (R*P+t);
% the coordinate of image
U = sU/sU(3);

fprintf("the x of image is: %.4f\n",U(1));
fprintf("the y of image is: %.4f \n",U(2));