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.

public static Point2D<float>[] ProjectPoints2(
	Point3D<float>[] objectPoints,
	ExtrinsicCameraParameters extrin,
	IntrinsicCameraParameters intrin,
	params Matrix<float>[] mats
)

Public Shared Function ProjectPoints2 ( _
	objectPoints As Point3D(Of Single)(), _
	extrin As ExtrinsicCameraParameters, _
	intrin As IntrinsicCameraParameters, _
	ParamArray mats As Matrix(Of Single)() _
) As Point2D(Of Single)()

public:
static array<Point2D<float>^>^ ProjectPoints2(
	array<Point3D<float>^>^ objectPoints, 
	ExtrinsicCameraParameters^ extrin, 
	IntrinsicCameraParameters^ intrin, 
	... array<Matrix<float>^>^ mats
)