How can I get the Correct image 3d annotation, after used writerRegistry.get("BasicWriter")

Omniverse Synthetic Data Generation (SDG)
1

I run the code

writer = rep.WriterRegistry.get("BasicWriter")
    writer.initialize(
    output_dir="F:\\ProjectCodes\\omniverse\\testAnnotator2",
       # bbox_height_threshold=25,
        #fully_visible_threshold=0.95,
        # omit_semantic_type=True,
        bounding_box_3d=True,
        bounding_box_2d_tight=True,
        rgb=True,
        distance_to_image_plane=True,
        camera_params=True,
        occlusion=True
    )

and I get :
rgb_0000.png file
camera_params_0000.json file
bounding_box_3d_0000.npy file
the “cameraViewTransform” 、 “cameraProjection” in camera_params_0000.json. 3D coordinate and “transform” in bounding_box_3d_0000.npy.
I run the code in python used with numpy ,but I can’t get the Correct image annotation. please help, thank you

np.dot(cameraProjection,np.dot(cameraViewTransform,np.dot(trans,3DPoint)))