I have a question regarding the imagepoints output of the projectPoints() funtion in open CV. I am getting image points which have negative coordinates and I understand that they are outside the screen area definitely.

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So, what should be the maximum range of outputs for the imagePoints for them to be on the screen? Will it be u= 1280 and v=720 if I am using it for an image that has 1280 pixels width and 720 pixels height?

For a clearer exposition of my problem I add the following details,

camera_distCoeffs: [0.045539, -0.057822, 0.001451, -0.000487, 0.006539, 0.438100, -0.135970, 0.011170]

camera_intrinsic: [606.215365, 0.000000, 632.285550, 0.000000, 679.696865, 373.770687, 0.000000, 0.000000, 1.000000]                          

Sample camera coordinate: [16.7819794502, -2.2923261485, 2.9228301598] with orientation quaternions:[Qx,Qy,Qz,Qw] as [0.0075078838, 0.062947858, 0.3573477229, -0.9318174734]

I am forming my rotation vector (rvec) by first converting the quaternions to rotation matrix and then calling the Rodrigues() function. I am constructing the translation vector as tvec=-(transpose of rotation matrix)*[column vector of camera cordinates]

Also, from what I understand the pinhole camera model used in the projectPoints() function has the camera aperture as the origin. So does it mean that the input parameter 'objectPoints' should be (x-x1, y-y1, z-z1) in my case where the camera is not the origin ? for brevity, here (x1,y1,z1) is camera coordinate in world frame and (x,y,z) is target object coordinate in world frame.