| x_screen | = I * | x_world |
| y_screen |       | y_world |
|    1     |       | z_world |
                   |    1    |

I = | f_x    0    c_x    0 |
    |  0    f_y   c_y    0 |
    |  0     0     1     0 |

x_screen = (x_world/z_world)*f_x + c_x
y_screen = (y_world/z_world)*f_y + c_y

x_world = (x_screen - c_x) * z_world / f_x
y_world = (y_screen - c_y) * z_world / f_y

std::vector<cv::Point3f> objectCorners;

for (int i=0; i<noOfCornersInHeight; i++)
{
    for (int j=0; j<noOfCornersInWidth; j++)
    {
        objectCorners.push_back(cv::Point3f(float(i*squareSize),float(j*squareSize), 0.0f));
    }
}

(0  ,0,0)  (0  ,100,0)  (0  ,200,0)    (0  ,300,0)
(100,0,0)  (100,100,0)  (100,200,0)    (100,300,0)
(200,0,0)  (200,100,0)  (200,200,0)    (200,300,0)