How to calibrate cameras without a calibration board, by points of the received object?

Question

Java

Good day.
I'm working on computer vision using JavaCv (OpenCv wrapper for Java. project repository - https://github.com/bytedeco/javacv).
The task is to calibrate the camera, but not according to the standard checkerboard method, but according to image points. To be more precise - I have an image of a rectangle with raised edges, and its real representation. I can get several points of both objects and calibrate accordingly. Both objects and points are schematically depicted in the figure:

If I understand everything correctly, the libraries used have the "undistort ()" function, which suits me. Arrays of object points and calibration coefficients are accepted as input.
But there are problems when using it. It is not entirely clear in what form it is necessary to submit data and what parameters are still needed.
If someone faced this problem (in the bowels of JavaCV or the parent - OpenCv), a huge request to show an example of use. Thank you in advance)