Projecting the 3d mesh or point cloud to image plane is not right using camera pose ?

[wguo68]

I have used the camera pose to project 3d mesh to 2d image plane. But the result is not correct. I used kinfu_.getCameraPose() to get R,T and the following code to :
Affine3f cam2vol = pose_.inv() * camera_pose;
to get cam2vol ,and then cam2vol.inv() is the vol2cam transform. With the camera Matrix (intr.fx, intr.fy, intr.cx, intr.cy) to do projection. but the result is not correct.

Which transform the camera_pose and pose_ represented? What is the relation among volume coordinate system , world coordinate system or camera coordinate system?

What's the problem?
thanks

It seems the camera poses returned by kinfu_.getCameraPose() is not right: