相机姿态检测计算cv::solvePnP，图像到世界，世界到图像坐标

cameraMatrix:
4991.213689, 0.000000, 568.008086, 0.000000, 4994.153756, 503.518542, 0.000000, 0.000000, 1.000000
distCoeffs:
-1.072106, 18.843906, -0.000801, 0.016985, -105.303328
R-Matrix:
0.999985, -0.002114, -0.005147, 0.002243, 0.999682, 0.025136, 0.005093, -0.025147, 0.999671
T-Matrix:
-32.022342, -54.243943, 752.223045
世界坐标到图像坐标:
wX = 0.000,wY = 0.000,X = 357.8,Y = 146.2
wX = 0.000,wY = 76.000,X = 355.1,Y = 647.5
wX = 38.000,wY = 38.000,X = 607.2,Y = 396.1
wX = 76.000,wY = 76.000,X = 859.0,Y = 648.9
wX = 95.000,wY = 95.000,X = 983.9,Y = 774.3
wX = 95.000,wY = 0.000,X = 983.5,Y = 147.7
wX = 95.000,wY = 38.000,X = 984.5,Y = 397.3
图像坐标到世界坐标:
X = 356.0,Y