undistortPoints.py

import cv2
import numpy as np

cameraMatrix = np.array([
    2117.598861472505, 
    0.0, 
    517.602819121056, 
    0.0, 
    2117.6945788309686, 
    647.6170255017, 
    0.0, 
    0.0, 
    1.0
], dtype=np.float32).reshape(3,3)

distCoeffs = np.array([
    -1.4094355927704236, 
    2.2898844133510323, 
    0.003102451134638497, 
    -0.007310615282179743, 
    0.0
], dtype=np.float32)

p = np.array([[[ 100.0, 100.0 ]]], dtype=np.float32)

pp = cv2.undistortPoints( p, cameraMatrix, distCoeffs)

print(pp)