VVVV is a toolkit for real time video synthesis

It is designed to facilitate the handling of large media environments with physical
interfaces, real-time motion graphics, audio and video that can interact with many users simultaneously.

vvvv uses a visual programming interface. Therefore it provides a graphical programming language for easy prototyping and development.

vvvv is real time. where many other languages have distinct modes for building and running programs, vvvv only has one mode - runtime.

vvvv is free for non-commercial use.
Download --> http://vvvv.org/tiki-index.php?page=Downloads

here explains how to project on 3D Geometry
they explains how vvvv resolve projection on a flat surface and projection on an arbitrary surface.
In the first case vvvv use homography to resolve the projection.
In Second case they build a virtual replica of the real scene, whith three steps
1- defining the origin for your real worlds coordinate system
2- create the target projection surface as a 3d model and place it correctly in your virtual scene regarding the coordinate systems origin (they comment that could be done whith vvvv or other toolkit)
3- measure the position, orientation and lens-characteristics of the projector

all done in these three steps is manually by the user, using vvvv toolkit or other.