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Does projectPoints() return coordinates for undistorted image?

I have calibrated the camera and trying to recognize ChArUco board. Then I'm painting custom markers on the board perimeter using coordinates returned by projectPoints(), but sometimes my markers doesn't fit visible board corners on the image.

My assumption that distortion effect could give such result, but projectPoints() receives cameraMatrix and distCoeffs, doesn't it perform undistortion automatically?

And, does it makes sense to perform undistortion of source image before detecting markers if I need to perform measurements on the image?