What is the transformation between the rectified left camera coordinate system and left camera coordinate frame corresponding with the raw left camera undistorted image and intrinsic matrix and distortion coefficients? I need a precise answer. I need to mathematically find the significance of your provided rectified intrinsic matrix with respect to the rectification homography.

Hello @mahdinobar,

Welcome to the forum

I might need a little more context. Basically rectification do not change the coordinate system. It introduce a small transformation between the `left_unrectified`

coordinate frame and the `left_rectified image`

coordinate frame indeed. Are you looking for this transformation or for the new calibration intrinsic computation made by the SDK ?

In any case we perform things similar to what OpenCV do. If you want more math details, you could check this page that explains the basis of stereo rectification.

I hope this help,

Regards,

Tanguy