I see that the Jacobian computation is implemented in the internal function and may be computed when cvProjectPoints2Internal is called from cvCalibrateCamera2Internal, but when cvProjectPoints2Internal is called from cvProjectPoints the pointer to the Jacobian to object points is explicitly set to NULL which prevents it from being computed and there’s no option to get it (as far as I can tell) without changing the C++ code and recompiling the library.
I wonder, is there any reason for that, except optimization for some particular use-cases?
I would like to use it for custom bundle-adjustment, and I need dpdo for that.