I see that the calibrate and uncalibrate function with k1 distortion is not correct.

[lastsupper108]

cv/cv-pinhole/src/lib.rs

Line 150 in 82a25ee

pub struct CameraIntrinsicsK1Distortion {

As per opencv to move from 3d point ( or barring ) to 2D point the transform is not as required by equations.
X,Y,Z points -> U, V image point should be as per ,

that is first after scaling by Z, ( X/Z, Y/Z) it should be mulitplied by (1+k1*r^2) whereas in function ,
uncalibrate(&self, projection: UnitVector3) -> Option
opposite is happening. Can someone correct me ?

Ref:
https://docs.opencv.org/4.x/d9/d0c/group__calib3d.html#:%7E:text=The%20next%20figures,monotonically%20increasing

Can somebody please guide if it is correct.

[jayrahdevore]

I recently found a reference stating that the OpenCV docs are backwards https://yangyushi.github.io/code/2020/03/04/opencv-undistort.html