docs: private void rectifyInputImages() {
  		// get intrinsic camera calibration matrices
  		DMatrixRMaj K1 = PerspectiveOps.pinholeToMatrix(calib.left, (DMatrixRMaj)null);
  		DMatrixRMaj K2 = PerspectiveOps.pinholeToMatrix(calib.right, (DMatrixRMaj)null);
  
  		// compute rectification matrices
  		rectifyAlg.process(K1,new Se3_F64(),K2,calib.getRightToLeft().invert(null));
  
  		DMatrixRMaj rect1 = rectifyAlg.getRect1();
  		DMatrixRMaj rect2 = rectifyAlg.getRect2();
  		rectK = rectifyAlg.getCalibrationMatrix();
  		rectR = rectifyAlg.getRectifiedRotation();
  
  		// adjust view to maximize viewing area while not including black regions
  		RectifyImageOps.allInsideLeft(calib.left, rect1, rect2, rectK);
  
  		// compute transforms to apply rectify the images
  		leftRectToPixel = transformRectToPixel(calib.left, rect1);
  
  		ImageType<T> imageType = ImageType.single(activeAlg.getInputType());
  
  		FMatrixRMaj rect1_F32 = new FMatrixRMaj(3,3); // TODO simplify code some how
  		FMatrixRMaj rect2_F32 = new FMatrixRMaj(3,3);
  		ConvertMatrixData.convert(rect1, rect1_F32);
  		ConvertMatrixData.convert(rect2, rect2_F32);
  
  		ImageDistort<T,T> distortRect1 = RectifyImageOps.rectifyImage(
  				calib.left, rect1_F32, BorderType.SKIP,imageType);
  		ImageDistort<T,T> distortRect2 = RectifyImageOps.rectifyImage(
  				calib.right, rect2_F32, BorderType.SKIP, imageType);
  
  		// rectify and undo distortion
  		distortRect1.apply(inputLeft, rectLeft);
  		distortRect2.apply(inputRight,rectRight);
  
  		rectifiedImages = true;
  	}