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You want to use the function projectPoints as it does everything you want.
You pass in the 3d world points you want projected, the camera matrix, the distortion matrix (if you have it), the rvec and tvec, which you have, and you get back a list of 2d points, projected onto the image plane. You can simply ignore the Jacobian and aspectRatio parameters for now. You don't need those for just projecting points onto the image.
