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projectPoints is a useful function, which can automatically projects 3D points to an image plane.

Here is another good example shows how to project 3D points by using the project matrix.

The following thress links are problems that have been asked before.

OpenCV's projectPoints function

Reverse of OpenCV projectPoints

Computing x,y coordinate (3D) from image point

Sample codes:

solvepnp.cpp

Pose Estimation, (using Python), in which we will learn to exploit calib3d module to create some 3D effects in images.

What Is Camera Calibration? (using MATLAB)

http://monkeycoding.com/?p=781#more-781 (using C/C++)

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