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There is cv::projectPoints. Just give it the objectPoints you passed to calibrate camera, the intrinsic calibration and the rvec, tvec that calibrateCamera returned and it will give you the projected points. Just compute their distance to the imagePoints you passed to calibrateCamera.

There is cv::projectPoints. cv::projectPoints which does exactly that. Just give it the objectPoints you passed to calibrate camera, the intrinsic calibration and the rvec, tvec that calibrateCamera returned and it will give you the projected points. Just compute their distance to the imagePoints you passed to calibrateCamera.