diff --git a/pytorch3d/utils/__init__.py b/pytorch3d/utils/__init__.py
index a14edd62..0be7bc3d 100644
--- a/pytorch3d/utils/__init__.py
+++ b/pytorch3d/utils/__init__.py
@@ -1,5 +1,6 @@
 # Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
 
+from .camera_conversions import cameras_from_opencv_projection
 from .ico_sphere import ico_sphere
 from .torus import torus
 
diff --git a/pytorch3d/utils/camera_conversions.py b/pytorch3d/utils/camera_conversions.py
new file mode 100644
index 00000000..5d05ea8d
--- /dev/null
+++ b/pytorch3d/utils/camera_conversions.py
@@ -0,0 +1,70 @@
+import torch
+
+from ..renderer import PerspectiveCameras
+from ..transforms import so3_exponential_map
+
+
+def cameras_from_opencv_projection(
+    rvec: torch.Tensor,
+    tvec: torch.Tensor,
+    camera_matrix: torch.Tensor,
+    image_size: torch.Tensor,
+) -> PerspectiveCameras:
+    """
+    Converts a batch of OpenCV-conventioned cameras parametrized with the
+    axis-angle rotation vectors `rvec`, translation vectors `tvec`, and the camera
+    calibration matrices `camera_matrix` to `PerspectiveCameras` in PyTorch3D
+    convention.
+
+    More specifically, the conversion is carried out such that a projection
+    of a 3D shape to the OpenCV-conventioned screen of size `image_size` results
+    in the same image as a projection with the corresponding PyTorch3D camera
+    to the NDC screen convention of PyTorch3D.
+
+    More specifically, the OpenCV convention projects points to the OpenCV screen
+    space as follows:
+        ```
+        x_screen_opencv = camera_matrix @ (exp(rvec) @ x_world + tvec)
+        ```
+    followed by the homogenization of `x_screen_opencv`.
+
+    Note:
+        The parameters `rvec, tvec, camera_matrix` correspond e.g. to the inputs
+        of `cv2.projectPoints`, or to the ouputs of `cv2.calibrateCamera`.
+
+    Args:
+        rvec: A batch of axis-angle rotation vectors of shape `(N, 3)`.
+        tvec: A batch of translation vectors of shape `(N, 3)`.
+        camera_matrix: A batch of camera calibration matrices of shape `(N, 3, 3)`.
+        image_size: A tensor of shape `(N, 2)` containing the sizes of the images
+            (height, width) attached to each camera.
+
+    Returns:
+        cameras_pytorch3d: A batch of `N` cameras in the PyTorch3D convention.
+    """
+
+    R = so3_exponential_map(rvec)
+    focal_length = torch.stack([camera_matrix[:, 0, 0], camera_matrix[:, 1, 1]], dim=-1)
+    principal_point = camera_matrix[:, :2, 2]
+
+    # Retype the image_size correctly and flip to width, height.
+    image_size_wh = image_size.to(R).flip(dims=(1,))
+
+    # Get the PyTorch3D focal length and principal point.
+    focal_pytorch3d = focal_length / (0.5 * image_size_wh)
+    p0_pytorch3d = -(principal_point / (0.5 * image_size_wh) - 1)
+
+    # For R, T we flip x, y axes (opencv screen space has an opposite
+    # orientation of screen axes).
+    # We also transpose R (opencv multiplies points from the opposite=left side).
+    R_pytorch3d = R.permute(0, 2, 1)
+    T_pytorch3d = tvec.clone()
+    R_pytorch3d[:, :, :2] *= -1
+    T_pytorch3d[:, :2] *= -1
+
+    return PerspectiveCameras(
+        R=R_pytorch3d,
+        T=T_pytorch3d,
+        focal_length=focal_pytorch3d,
+        principal_point=p0_pytorch3d,
+    )
diff --git a/tests/data/cv_project_points_precomputed.json b/tests/data/cv_project_points_precomputed.json
new file mode 100644
index 00000000..ba430912
--- /dev/null
+++ b/tests/data/cv_project_points_precomputed.json
@@ -0,0 +1,1230 @@
+[
+    {
+        "rvec": [
+            -1.6336234226511284,
+            -1.009804818052615,
+            0.4160736184401035
+        ],
+        "tvec": [
+            1.626905,
+            -1.5187958,
+            -4.6009063
+        ],
+        "camera_matrix": [
+            [
+                -1.0406556,
+                0.0,
+                0.6160261
+            ],
+            [
+                -0.0,
+                -4.6370989,
+                -2.2859802
+            ],
+            [
+                -0.0,
+                -0.0,
+                1.0
+            ]
+        ],
+        "image_size": [
+            19,
+            16
+        ],
+        "pts": [
+            [
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+                0.121675,
+                0.4438632
+            ],
+            [
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+                1.4940791,
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+        ]
+    },
+    {
+        "rvec": [
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+            0.026455585547038436
+        ],
+        "tvec": [
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+        "camera_matrix": [
+            [
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+            ],
+            [
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+                -0.0,
+                1.0
+            ]
+        ],
+        "image_size": [
+            11,
+            19
+        ],
+        "pts": [
+            [
+                0.9182028,
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+            ],
+            [
+                0.1684846,
+                3.1942163
+            ],
+            [
+                0.3376347,
+                3.4565985
+            ],
+            [
+                0.024885,
+                1.9060357
+            ],
+            [
+                -0.4946605,
+                -0.3688437
+            ],
+            [
+                0.2704817,
+                -0.5945693
+            ],
+            [
+                -8.9040477,
+                -8.4144665
+            ],
+            [
+                0.7361192,
+                -10.8591518
+            ],
+            [
+                0.0607204,
+                0.1565487
+            ],
+            [
+                -0.9204385,
+                -0.9006548
+            ],
+            [
+                -4.7045052,
+                -7.8600902
+            ],
+            [
+                -0.0843625,
+                -0.5081105
+            ],
+            [
+                0.1565888,
+                1.2224583
+            ],
+            [
+                0.1561078,
+                0.8506761
+            ]
+        ]
+    },
+    {
+        "rvec": [
+            -0.9637575928124262,
+            1.6344477621933204,
+            1.1377406680922277
+        ],
+        "tvec": [
+            -5.0736742,
+            -15.0264648,
+            3.7663565
+        ],
+        "camera_matrix": [
+            [
+                0.0592345,
+                0.0,
+                1.0948929
+            ],
+            [
+                0.0,
+                2.0469542,
+                -1.6769676
+            ],
+            [
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        "image_size": [
+            19,
+            12
+        ],
+        "pts": [
+            [
+                0.0815831,
+                1.2381695,
+                2.1837783
+            ],
+            [
+                0.1905641,
+                -0.4981669,
+                0.0475124
+            ],
+            [
+                1.4483291,
+                0.4282211,
+                -0.1707534
+            ],
+            [
+                -2.3547773,
+                -0.4678065,
+                -0.1294017
+            ],
+            [
+                0.9000515,
+                -0.5156528,
+                0.5203996
+            ],
+            [
+                1.1410499,
+                -1.4447244,
+                -1.0176718
+            ],
+            [
+                -0.9902687,
+                1.5241503,
+                0.636245
+            ],
+            [
+                0.1996184,
+                -0.0077118,
+                1.1754896
+            ],
+            [
+                1.2556589,
+                -0.2809262,
+                -0.3669177
+            ],
+            [
+                1.6537248,
+                -0.0856097,
+                0.2933573
+            ],
+            [
+                1.4872575,
+                -0.6384799,
+                0.7087688
+            ],
+            [
+                -0.0825277,
+                -0.6873837,
+                -1.4113116
+            ],
+            [
+                0.6213837,
+                0.3085112,
+                -0.3309394
+            ],
+            [
+                -0.4852161,
+                -0.0602118,
+                -1.5596469
+            ],
+            [
+                -0.2914053,
+                0.8040719,
+                0.7358267
+            ],
+            [
+                -0.2026395,
+                0.2902467,
+                -0.8548176
+            ],
+            [
+                -0.3261322,
+                -0.952252,
+                1.1869633
+            ],
+            [
+                -1.1571738,
+                0.0193,
+                1.4500207
+            ],
+            [
+                0.6521225,
+                -0.3442692,
+                1.2908895
+            ],
+            [
+                -0.8021245,
+                -1.3890878,
+                0.2576423
+            ],
+            [
+                1.1274729,
+                2.7849331,
+                -0.0913946
+            ],
+            [
+                -0.0290724,
+                1.030574,
+                1.0248824
+            ],
+            [
+                1.5831991,
+                1.0291609,
+                1.8343708
+            ],
+            [
+                -0.4910075,
+                -0.8094693,
+                -0.2462478
+            ],
+            [
+                -0.4517529,
+                -0.6581127,
+                0.3922879
+            ],
+            [
+                -1.3964618,
+                0.3368952,
+                0.6266755
+            ],
+            [
+                0.5469885,
+                -0.3078414,
+                0.0734122
+            ],
+            [
+                -0.2766632,
+                0.1395219,
+                -0.050913
+            ],
+            [
+                0.740091,
+                -0.3233616,
+                2.4009981
+            ],
+            [
+                2.8127453,
+                0.6191253,
+                -2.3287021
+            ]
+        ],
+        "pts_proj": [
+            [
+                1.0011881,
+                -8.7962669
+            ],
+            [
+                1.0148904,
+                -10.6624766
+            ],
+            [
+                0.9559355,
+                -13.9861497
+            ],
+            [
+                1.0550145,
+                -6.889409
+            ],
+            [
+                0.9903897,
+                -12.9240756
+            ],
+            [
+                0.9922857,
+                -15.2615745
+            ],
+            [
+                1.0231235,
+                -7.3797553
+            ],
+            [
+                1.0095861,
+                -10.1396779
+            ],
+            [
+                0.9732178,
+                -14.1103632
+            ],
+            [
+                0.9437488,
+                -16.0891922
+            ],
+            [
+                0.9584208,
+                -16.2312512
+            ],
+            [
+                1.0231435,
+                -10.332697
+            ],
+            [
+                0.9944343,
+                -11.1411459
+            ],
+            [
+                1.0257093,
+                -9.1991957
+            ],
+            [
+                1.0149771,
+                -8.6661286
+            ],
+            [
+                1.0172749,
+                -9.379192
+            ],
+            [
+                1.0324498,
+                -9.6570503
+            ],
+            [
+                1.0382854,
+                -7.6709289
+            ],
+            [
+                0.9976967,
+                -11.7654687
+            ],
+            [
+                1.0447702,
+                -9.1607223
+            ],
+            [
+                0.9566311,
+                -10.3084282
+            ],
+            [
+                1.0066492,
+                -8.9367541
+            ],
+            [
+                0.9320123,
+                -13.8820569
+            ],
+            [
+                1.0331906,
+                -9.4447618
+            ],
+            [
+                1.0314307,
+                -9.3262563
+            ],
+            [
+                1.0384939,
+                -7.4069907
+            ],
+            [
+                1.0022615,
+                -11.4736859
+            ],
+            [
+                1.0202613,
+                -9.217644
+            ],
+            [
+                0.9922728,
+                -11.9963374
+            ],
+            [
+                0.8448706,
+                -23.0521993
+            ]
+        ]
+    }
+]
diff --git a/tests/test_camera_conversions.py b/tests/test_camera_conversions.py
new file mode 100644
index 00000000..8ae13c1f
--- /dev/null
+++ b/tests/test_camera_conversions.py
@@ -0,0 +1,149 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
+
+
+import json
+import unittest
+
+import numpy as np
+import torch
+from common_testing import TestCaseMixin, get_tests_dir
+from pytorch3d.ops import eyes
+from pytorch3d.transforms import so3_exponential_map, so3_log_map
+from pytorch3d.utils import (
+    cameras_from_opencv_projection,
+)
+
+DATA_DIR = get_tests_dir() / "data"
+
+
+def _coords_opencv_screen_to_pytorch3d_ndc(xy_opencv, image_size):
+    """
+    Converts the OpenCV screen coordinates `xy_opencv` to PyTorch3D NDC coordinates.
+    """
+    xy_pytorch3d = -(2.0 * xy_opencv / image_size.flip(dims=(1,))[:, None] - 1.0)
+    return xy_pytorch3d
+
+
+def cv2_project_points(pts, rvec, tvec, camera_matrix):
+    """
+    Reproduces the `cv2.projectPoints` function from OpenCV using PyTorch.
+    """
+    R = so3_exponential_map(rvec)
+    pts_proj_3d = (
+        camera_matrix.bmm(R.bmm(pts.permute(0, 2, 1)) + tvec[:, :, None])
+    ).permute(0, 2, 1)
+    depth = pts_proj_3d[..., 2:]
+    pts_proj_2d = pts_proj_3d[..., :2] / depth
+    return pts_proj_2d
+
+
+class TestCameraConversions(TestCaseMixin, unittest.TestCase):
+    def setUp(self) -> None:
+        super().setUp()
+        torch.manual_seed(42)
+        np.random.seed(42)
+
+    def test_cv2_project_points(self):
+        """
+        Tests that the local implementation of cv2_project_points gives the same
+        restults OpenCV's `cv2.projectPoints`. The check is done against a set
+        of precomputed results `cv_project_points_precomputed`.
+        """
+        with open(DATA_DIR / "cv_project_points_precomputed.json", "r") as f:
+            cv_project_points_precomputed = json.load(f)
+
+        for test_case in cv_project_points_precomputed:
+            _pts_proj = cv2_project_points(
+                **{
+                    k: torch.tensor(test_case[k])[None]
+                    for k in ("pts", "rvec", "tvec", "camera_matrix")
+                }
+            )
+            pts_proj = torch.tensor(test_case["pts_proj"])[None]
+            self.assertClose(_pts_proj, pts_proj, atol=1e-4)
+
+    def test_opencv_conversion(self):
+        """
+        Tests that the cameras converted from opencv to pytorch3d convention
+        return correct projections of random 3D points. The check is done
+        against a set of results precomuted using `cv2.projectPoints` function.
+        """
+
+        image_size = [[480, 640]] * 4
+        R = [
+            [
+                [1.0, 0.0, 0.0],
+                [0.0, 1.0, 0.0],
+                [0.0, 0.0, 1.0],
+            ],
+            [
+                [1.0, 0.0, 0.0],
+                [0.0, 0.0, -1.0],
+                [0.0, 1.0, 0.0],
+            ],
+            [
+                [0.0, 0.0, 1.0],
+                [1.0, 0.0, 0.0],
+                [0.0, 1.0, 0.0],
+            ],
+            [
+                [0.0, 0.0, 1.0],
+                [1.0, 0.0, 0.0],
+                [0.0, 1.0, 0.0],
+            ],
+        ]
+
+        tvec = [
+            [0.0, 0.0, 3.0],
+            [0.3, -0.3, 3.0],
+            [-0.15, 0.1, 4.0],
+            [0.0, 0.0, 4.0],
+        ]
+        focal_length = [
+            [100.0, 100.0],
+            [115.0, 115.0],
+            [105.0, 105.0],
+            [120.0, 120.0],
+        ]
+        principal_point = [
+            [240, 320],
+            [240.5, 320.3],
+            [241, 318],
+            [242, 322],
+        ]
+
+        principal_point, focal_length, R, tvec, image_size = [
+            torch.FloatTensor(x)
+            for x in (principal_point, focal_length, R, tvec, image_size)
+        ]
+        camera_matrix = eyes(dim=3, N=4)
+        camera_matrix[:, 0, 0], camera_matrix[:, 1, 1] = (
+            focal_length[:, 0],
+            focal_length[:, 1],
+        )
+        camera_matrix[:, :2, 2] = principal_point
+
+        rvec = so3_log_map(R)
+
+        pts = torch.nn.functional.normalize(torch.randn(4, 1000, 3), dim=-1)
+
+        # project the 3D points with the opencv projection function
+        pts_proj_opencv = cv2_project_points(pts, rvec, tvec, camera_matrix)
+
+        # make the pytorch3d cameras
+        cameras_opencv_to_pytorch3d = cameras_from_opencv_projection(
+            rvec, tvec, camera_matrix, image_size
+        )
+
+        # project the 3D points with converted cameras
+        pts_proj_pytorch3d = cameras_opencv_to_pytorch3d.transform_points(pts)[..., :2]
+
+        # convert the opencv-projected points to pytorch3d screen coords
+        pts_proj_opencv_in_pytorch3d_screen = _coords_opencv_screen_to_pytorch3d_ndc(
+            pts_proj_opencv, image_size
+        )
+
+        # compare to the cached projected points
+        self.assertClose(
+            pts_proj_opencv_in_pytorch3d_screen, pts_proj_pytorch3d, atol=1e-5
+        )