docstr: Tests that the local implementation of cv2_project_points gives the same
  restults OpenCV's `cv2.projectPoints`. The check is done against a set
  of precomputed results `cv_project_points_precomputed`.
docstr_tok: ["Tests","that","the","local","implementation","of","cv2_project_points","gives","the","same","restults","OpenCV","'s","`","cv2.projectPoints","`",".","The","check","is","done","against","a","set","of","precomputed","results","`","cv_project_points_precomputed","`","."]
code: def test_cv2_project_points(self):
      """
      Tests that the local implementation of cv2_project_points gives the same
      restults OpenCV's `cv2.projectPoints`. The check is done against a set
      of precomputed results `cv_project_points_precomputed`.
      """
      with open(
          DATA_DIR / "cv_project_points_precomputed.json", "r"
      ) as f:
          cv_project_points_precomputed = json.load(f)
  
      for test_case in cv_project_points_precomputed:
          _pts_proj = cv2_project_points(
              **{
                  k: torch.tensor(test_case[k])[None]
                  for k in ("pts", "rvec", "tvec", "camera_matrix")
              }
          )
          pts_proj = torch.tensor(test_case["pts_proj"])[None]
          self.assertClose(_pts_proj, pts_proj, atol=1e-4)
  
file_path: pytorch3d/tests/test_camera_conversions.py
imports: import json
  import unittest
  import numpy
  import torch
  from pytorch3d.ops import eyes
  from pytorch3d.renderer.points.pulsar import Renderer
  from pytorch3d.transforms import so3_exp_map, so3_log_map
  from pytorch3d.utils import cameras_from_opencv_projection, opencv_from_cameras_projection, pulsar_from_opencv_projection
  from .common_testing import get_tests_dir, TestCaseMixin
label_desc: Use image node_id 2 for calling the TestCameraConversions obj's underlying member method code with example usage: obj.test_cv2_project_points() without return types