'**SUMMARY**
This method returns the corresponding point (x, y)
**PARAMETERS**
* *point* - Input point (x, y)
* *whichImage* - Index of the image (1 or 2) that contains the point
* *H* - Homography that can be estimated
using StereoCamera.findHomography()
**RETURNS**
Corresponding point (x, y) as tuple
**EXAMPLE**
>>> img1 = Image("sampleimages/stereo_view1.png")
>>> img2 = Image("sampleimages/stereo_view2.png")
>>> stereoImg = StereoImage(img1,img2)
>>> F,pts1,pts2 = stereoImg.findFundamentalMat()
>>> point = pts2[0]
>>> projectPoint = stereoImg.projectPoint(point,H ,1) #finds corresponding  point in the left image.'

def projectPoint(self, point, H, whichImage):

    H = np.matrix(H)
    point = np.matrix((point[1], point[0], 1.0))
    if (whichImage == 1.0):
        corres_pt = (H * point.T)
    else:
        corres_pt = (np.linalg.inv(H) * point.T)
    corres_pt = (corres_pt / corres_pt[2])
    return (float(corres_pt[1]), float(corres_pt[0]))
