# Revision history [back]

Your three euler angles and T are describing the rigid motion from the 3d point of your object coordinate system to a 3d point in the camera coordinate system (Pc):

Pc = [R,t] * P;

You have to use a camera model, for example Zhang. Then, Pc will be projected on the normalized image plane (division by the Z-Components) and corrected with the distortion parameters (radial and tangential).

pc = Pc/Z;

The final step is your point in the image coordinate system of your image plane:

p = K * pc;

K includes four parameters, fx fy and cx, cy (assuming you have square pixels on your sensor).

You should have a look in the book of Trucco & Verri or the doc:

http://docs.opencv.org/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html?highlight=calibration#cv2.calibrationMatrixValues

Your three euler angles and T are describing the rigid motion from the 3d point of your object coordinate system to a 3d point in the camera coordinate system (Pc):

Pc = [R,t] * P;

You have to use a camera model, for example Zhang. Then, Pc will be projected on the normalized image plane (division by the Z-Components) and corrected with the distortion parameters (radial and tangential).

pc = Pc/Z;

The final step is your point in the image coordinate system of your image plane:

p = K * pc;

K includes four parameters, fx fy and cx, cy (assuming you have square pixels on your sensor).

You should have a look in the book of Trucco & Verri or the doc:

http://docs.opencv.org/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html?highlight=calibration#cv2.calibrationMatrixValueshttp://docs.opencv.org/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html