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If you just want to project points into the image, you can use the pinhole_camera_model-class:

http://docs.ros.org/jade/api/image_geometry/html/c++/classimage__geometry_1_1PinholeCameraModel.html#a30b3761aadfa4b91c7fedb97442c2f13

cv::Point2d image_geometry::PinholeCameraModel::project3dToPixel ( const cv::Point3d & xyz ) const

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