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Say you have a camera pointing at an object in real life. The computer knows the location and orientation of the camera relative to the object

Then say you have a 3D model of that object in memory.

Is it possible with OpenCV to project the camera image onto the 3D model of the object, returning a texture/image for each face of the object?

If OpenCV can't do this, does anyone know any other program or package that can do this, in a way I can call with code or a script and an input file?