docs: public void setCalibration(StereoParameters stereoParam) {
  		CameraPinholeBrown left = stereoParam.getLeft();
  		CameraPinholeBrown right = stereoParam.getRight();
  
  		// adjust image size
  		imageLeftRect.reshape(left.getWidth(), left.getHeight());
  		imageRightRect.reshape(right.getWidth(), right.getHeight());
  
  		// compute rectification
  		RectifyCalibrated rectifyAlg = RectifyImageOps.createCalibrated();
  		Se3_F64 leftToRight = stereoParam.getRightToLeft().invert(null);
  
  		// original camera calibration matrices
  		DMatrixRMaj K1 = PerspectiveOps.pinholeToMatrix(left, (DMatrixRMaj)null);
  		DMatrixRMaj K2 = PerspectiveOps.pinholeToMatrix(right, (DMatrixRMaj)null);
  
  		rectifyAlg.process(K1,new Se3_F64(),K2,leftToRight);
  
  		// rectification matrix for each image
  		rect1 = rectifyAlg.getRect1();
  		rect2 = rectifyAlg.getRect2();
  		// New calibration and rotation matrix, Both cameras are the same after rectification.
  		rectK = rectifyAlg.getCalibrationMatrix();
  		rectR = rectifyAlg.getRectifiedRotation();
  
  		FMatrixRMaj rect1_F32 = new FMatrixRMaj(3,3);
  		FMatrixRMaj rect2_F32 = new FMatrixRMaj(3,3);
  
  		ConvertMatrixData.convert(rect1,rect1_F32);
  		ConvertMatrixData.convert(rect2,rect2_F32);
  
  		ImageType<T> imageType = imageLeftRect.getImageType();
  		distortLeftRect = RectifyImageOps.rectifyImage(stereoParam.left, rect1_F32, BorderType.SKIP, imageType);
  		distortRightRect = RectifyImageOps.rectifyImage(stereoParam.right, rect2_F32, BorderType.SKIP, imageType);
  
  		// Compute parameters that are needed when converting to 3D
  		baseline = stereoParam.getBaseline();
  		fx = rectK.get(0,0);
  		fy = rectK.get(1,1);
  		cx = rectK.get(0,2);
  		cy = rectK.get(1,2);
  	}