To understand a better way Bird eye view using inverse perspective mapping algorithm

Dear Community,

I am trying to understand a better way Bird eye View using inverse perspective mapping,

So I use pin hole camera model for projective projection, As far as I am able to projective 3D to 2D view but When I am using IPM technique I get some different result,

If someone help me to figure out, I would really appreciate,

For a simpilcity I attached my image after projection

% Region of Interest (in meters)
x_min =  0;  
x_max =  30;
y_min = -15;
y_max =  15;
  
% Image resolution:
imageSize = [640,480];   

% Focal length 
fu=150; fv=150; 


% 3D camera rotations:   
yaw     =  0*pi/180;  
roll    =  30*pi/180;
pitch   =  15*pi/180;

% 3D camera position:
O_Rcam = [-20;0;10]; 

I look forward from you,

Sushil