diff --git a/pytorch3d/renderer/cameras.py b/pytorch3d/renderer/cameras.py
index b9338723..6444cbae 100644
--- a/pytorch3d/renderer/cameras.py
+++ b/pytorch3d/renderer/cameras.py
@@ -505,8 +505,8 @@ class SfMPerspectiveCameras(TensorProperties):
             py = principal_point[:,1]
 
             P = [
-                    [fx,   0,    0,  px],
-                    [0,   fy,    0,  py],
+                    [fx,   0,   px,   0],
+                    [0,   fy,   py,   0],
                     [0,    0,    0,   1],
                     [0,    0,    1,   0],
             ]
@@ -800,8 +800,8 @@ def _get_sfm_calibration_matrix(
                 ]
             else:
                 K = [
-                        [fx,   0,    0,  px],
-                        [0,   fy,    0,  py],
+                        [fx,   0,   px,   0],
+                        [0,   fy,   py,   0],
                         [0,    0,    0,   1],
                         [0,    0,    1,   0],
                 ]
@@ -827,12 +827,14 @@ def _get_sfm_calibration_matrix(
     K = fx.new_zeros(N, 4, 4)
     K[:, 0, 0] = fx
     K[:, 1, 1] = fy
-    K[:, 0, 3] = px
-    K[:, 1, 3] = py
     if orthographic:
+        K[:, 0, 3] = px
+        K[:, 1, 3] = py
         K[:, 2, 2] = 1.0
         K[:, 3, 3] = 1.0
     else:
+        K[:, 0, 2] = px
+        K[:, 1, 2] = py
         K[:, 3, 2] = 1.0
         K[:, 2, 3] = 1.0
 
diff --git a/tests/test_cameras.py b/tests/test_cameras.py
index 6e22e702..da35b4e7 100644
--- a/tests/test_cameras.py
+++ b/tests/test_cameras.py
@@ -81,8 +81,8 @@ def sfm_perspective_project_naive(points, fx=1.0, fy=1.0, p0x=0.0, p0y=0.0):
         (N, V, 3) tensor of projected points.
     """
     z = points[:, :, 2]
-    x = (points[:, :, 0] * fx + p0x) / z
-    y = (points[:, :, 1] * fy + p0y) / z
+    x = (points[:, :, 0] * fx) / z + p0x
+    y = (points[:, :, 1] * fy) / z + p0y
     points = torch.stack((x, y, 1.0 / z), dim=2)
     return points