Camera rectification adjusts images from two cameras so that the corresponding points in the images align on the same horizontal or vertical lines (Epipolar Geometry).
Is undistortion part of rectification?
Rectification typically includes undistortion as part of the rectification pipeline.
Are both stereo images altered, or only one?
In a rectified image pair, both images are typically altered.
- VPI https://docs.nvidia.com/vpi/algo_ldc.html
- OpenCV https://amroamroamro.github.io/mexopencv/matlab/cv.stereoRectify.html
Which matrix is used as part of the rectification? In ROS, it’s the Projection Matrix.