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FisheyeProjectPoints Method
Projects points using fisheye model. The function 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 coordinates (as functions of all the input parameters) with respect to the particular parameters, intrinsic and/or extrinsic.

Namespace:  Emgu.CV
Assembly:  Emgu.CV.World (in Emgu.CV.World.dll) Version: (
public static void ProjectPoints(
	IInputArray objectPoints,
	IOutputArray imagePoints,
	IInputArray rvec,
	IInputArray tvec,
	IInputArray K,
	IInputArray D,
	double alpha = 0,
	IOutputArray jacobian = null


Type: Emgu.CVIInputArray
Array of object points, 1xN/Nx1 3-channel (or vector<Point3f> ), where N is the number of points in the view.
Type: Emgu.CVIOutputArray
Output array of image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, or vector<Point2f>.
Type: Emgu.CVIInputArray
rotation vector
Type: Emgu.CVIInputArray
translation vector
Type: Emgu.CVIInputArray
Camera matrix
Type: Emgu.CVIInputArray
Input vector of distortion coefficients (k1,k2,k3,k4).
alpha (Optional)
Type: SystemDouble
The skew coefficient.
jacobian (Optional)
Type: Emgu.CVIOutputArray
Optional output 2Nx15 jacobian matrix of derivatives of image points with respect to components of the focal lengths, coordinates of the principal point, distortion coefficients, rotation vector, translation vector, and the skew. In the old interface different components of the jacobian are returned via different output parameters.
See Also