Obtaining world coordinates of an object from its image coordinates

I have been following this documentation to use OpenCV. In the formula below, I have successfully calculated both the intrinsic as well as the extrinsic matrices(I have made use of the solvePnP() procedure to obtain these matrices). Since, the object is lying on the ground I have substituted Z = 0. Then, I just removed the third column of the extrinsic matrix and multiplied it with intrinsic matrix to obtain a 3X3 projection matrix. I took it’s inverse, and multiplied it by image coordinates i.e. su,sv and s.

However, all points in the world coordinates seem to be off by 1 mm or lesser, and hence I am getting not so accurate co-ordinates. Does anyone know where I might be going wrong?


Source: c++

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