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I'm trying to calculate pixel coordinates of 3d points Xw = [150 200 350]

where R is given as

\begin{bmatrix} 1 & 0 & 0 \\ 0 & 1 & 0 \\ 0 & 0 & 1 \\ \end{bmatrix}

K is give as

\begin{bmatrix} -70\\ -95\\ -120\\ \end{bmatrix}

and ox and oy is 320x240. I'm using opencv 3.0 to do this and I get [533, 520] as an output. However, when I do manual calculation on paper, I got [493,465]. This is homework question. So I'm not looking for solution.I just want to know which one is the wrong one so that I can isolate the problem. Thanks

user3273345
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  • Are we expected to know what do you mean by R and K? – Ivan Neretin Feb 02 '16 at 06:01
  • Sorry if my question is vague. The question is to find pixel coordinates on image plane of pinhole camera that corresponds to 3d point in the world. R is rotation vector, K is location of camera. – user3273345 Feb 02 '16 at 06:07

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