Computes projections of 3D points to the image plane given intrinsic and extrinsic camera parameters. Optionally, the function computes jacobians - matrices of partial derivatives of image points as functions of all the input parameters w.r.t. the particular parameters, intrinsic and/or extrinsic. The jacobians are used during the global optimization in cvCalibrateCamera2 and cvFindExtrinsicCameraParams2. The function itself is also used to compute back-projection error for with current intrinsic and extrinsic parameters.

Namespace: Emgu.CV
Assembly: Emgu.CV (in Emgu.CV.dll) Version: (


public static PointF[] ProjectPoints(
	MCvPoint3D32f[] objectPoints,
	ExtrinsicCameraParameters extrin,
	IntrinsicCameraParameters intrin,
	params Matrix<float>[] mats
Visual Basic
Public Shared Function ProjectPoints ( _
	objectPoints As MCvPoint3D32f(), _
	extrin As ExtrinsicCameraParameters, _
	intrin As IntrinsicCameraParameters, _
	ParamArray mats As Matrix(Of Single)() _
) As PointF()
Visual C++
static array<PointF>^ ProjectPoints(
	array<MCvPoint3D32f>^ objectPoints, 
	ExtrinsicCameraParameters^ extrin, 
	IntrinsicCameraParameters^ intrin, 
	... array<Matrix<float>^>^ mats


Type: array<Emgu.CV.Structure..::..MCvPoint3D32f>[]()[][]
The array of object points.
Type: Emgu.CV..::..ExtrinsicCameraParameters
Extrinsic parameters
Type: Emgu.CV..::..IntrinsicCameraParameters
Intrinsic parameters
Type: array<Emgu.CV..::..Matrix<(Of <(<'Single>)>)>>[]()[][]
Optional matrix supplied in the following order: dpdrot, dpdt, dpdf, dpdc, dpddist

Return Value

The array of image points which is the projection of objectPoints


Note, that with intrinsic and/or extrinsic parameters set to special values, the function can be used to compute just extrinsic transformation or just intrinsic transformation (i.e. distortion of a sparse set of points)

See Also