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Transform 2D Point into 3D Line

Im looking for a function that transforms a 2D image-point into a 3D line in my model (specific coord system, belonging to translation and rotation vectors received by function solvePnP() ).

I have: cameraMatrix, rotation and translation vectors, distortionCoefficients.

It would be the inverse function of projectPoints(), which takes a 3D point and transforms it into a 2d image point.

Is there any solution for this issue?