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