undistortPoints opencv

std::vector<:point2f> inputDistortedPoints = ...
std::vector<:point2f> outputUndistortedPoints;
cv::Mat cameraMatrix = ...
cv::Mat distCoeffs = ...

cv::undistortPoints(inputDistortedPoints, outputUndistortedPoints, cameraMatrix, distCoeffs, cv::noArray(), cameraMatrix);

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cv::undistortPoints(inputDistortedPoints, outputUndistortedPoints, cameraMatrix, distCoeffs）