--- a/python/tests/cvutils.txt	Wed Jul 12 01:24:31 2017 -0400
+++ b/python/tests/cvutils.txt	Wed Jul 12 18:00:53 2017 -0400
@@ -1,10 +1,19 @@
 >>> import cv2, cvutils
->>> from numpy import array, round
+>>> from numpy import array, round, ones
 >>> img = cv2.imread("../samples/val-dor-117-111.png")
 >>> width = img.shape[1]
 >>> height = img.shape[0]
 >>> intrinsicCameraMatrix = array([[ 377.42,    0.  ,  639.12], [   0.  ,  378.43,  490.2 ], [   0.  ,    0.  ,    1.  ]])
->>> [map1, map2] = cvutils.computeUndistortMaps(width, height, 1.31, intrinsicCameraMatrix, [-0.11759321, 0.0148536, 0.00030756, -0.00020578, -0.00091816])
+>>> distortionCoefficients = array([-0.11759321, 0.0148536, 0.00030756, -0.00020578, -0.00091816])
+>>> distortionCoefficients = array([-0.11759321, 0., 0., 0., 0.])
+>>> multiplicationFactor = 1.31
+>>> [map1, map2] = cvutils.computeUndistortMaps(width, height, multiplicationFactor, intrinsicCameraMatrix, distortionCoefficients)
 >>> undistorted = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR)
->>> (undistorted.shape == array([int(round(height*1.31)), int(round(width*1.31)), 3])).all()
+>>> (undistorted.shape == array([int(round(height*multiplicationFactor)), int(round(width*multiplicationFactor)), 3])).all()
 True
+>>> imgPoints = array([[[150.,170.],[220.,340.],[340.,440.],[401.,521.]]])
+>>> newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, (int(round(width*multiplicationFactor)), int(round(height*multiplicationFactor))), True)
+>>> undistortedPoints = cv2.undistortPoints(imgPoints, intrinsicCameraMatrix, distortionCoefficients, P = newCameraMatrix).reshape(-1, 2)
+>>> tmp = ones((imgPoints[0].shape[0], 3))
+>>> tmp[:,:2] = undistortedPoints
+>>> origPoints = cv2.projectPoints(tmp, (0.,0.,0.), (0.,0.,0.), intrinsicCameraMatrix, distortionCoefficients)[0].reshape(-1,2)