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CvInvokeProjectPoints Method (MCvPoint3D32f, IInputArray, IInputArray, IInputArray, IInputArray, IOutputArray, Double)
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.World (in Emgu.CV.World.dll) Version: (
public static PointF[] ProjectPoints(
	MCvPoint3D32f[] objectPoints,
	IInputArray rvec,
	IInputArray tvec,
	IInputArray cameraMatrix,
	IInputArray distCoeffs,
	IOutputArray jacobian = null,
	double aspectRatio = 0


Type: Emgu.CV.StructureMCvPoint3D32f
The array of object points.
Type: Emgu.CVIInputArray
The rotation vector, 1x3 or 3x1
Type: Emgu.CVIInputArray
The translation vector, 1x3 or 3x1
Type: Emgu.CVIInputArray
The camera matrix (A) [fx 0 cx; 0 fy cy; 0 0 1].
Type: Emgu.CVIInputArray
The vector of distortion coefficients, 4x1 or 1x4 [k1, k2, p1, p2]. If it is IntPtr.Zero, all distortion coefficients are considered 0's
jacobian (Optional)
Type: Emgu.CVIOutputArray
Optional output 2Nx(10+<numDistCoeffs>) jacobian matrix of derivatives of image points with respect to components of the rotation vector, translation vector, focal lengths, coordinates of the principal point and the distortion coefficients. In the old interface different components of the jacobian are returned via different output parameters.
aspectRatio (Optional)
Type: SystemDouble
Aspect ratio

Return Value

Type: PointF
The output array of image points, 2xN or Nx2, where N is the total number of points in the view

Return Value

Type: PointF
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