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Inverse perspective mapping 2D from 3D cordinates

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AFETTOUCHE Massinissa
Hello evry body;
I'm trying to perform an inverse perspective mapping using the pinhole camera model (monocular camera) for an image (2D cordinates) in the main to find the 3D coorinates (X Y Z), after this I wanted to do a perspective projection to anthor coordinate system which contains a virtual camera to perform a Bird-Eye-View image : the code I used is attached with this comment, the problem I 'm facing is that the coordinates that I found with the perspective projection are greater than my image size
So if someone can suggest me any ideas it will be thankful

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