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undistortPoints unapplies the first camera matrix and applies the second camera matrix. If the same camera matrix is used, that means the camera view is the same, except distortion is removed at that view. rvec and tvec relate the undistorted 2D camera coordinates to 3D world coordinates. You can't use rvec and tvec for a distorted image, but the rvec/tvec solution you get from solvePnP on rectified coordinates is meant to be the same as the solution from calibrateCamera, at least under ideal conditions.
