docs: public static <T extends ImageBase<T>>
  	void rectifyImages(T distortedLeft,
  					   T distortedRight,
  					   Se3_F64 leftToRight,
  					   CameraPinholeBrown intrinsicLeft,
  					   CameraPinholeBrown intrinsicRight,
  					   T rectifiedLeft,
  					   T rectifiedRight,
  					   GrayU8 rectifiedMask,
  					   DMatrixRMaj rectifiedK,
  					   DMatrixRMaj rectifiedR) {
  		RectifyCalibrated rectifyAlg = RectifyImageOps.createCalibrated();
  
  		// original camera calibration matrices
  		DMatrixRMaj K1 = PerspectiveOps.pinholeToMatrix(intrinsicLeft, (DMatrixRMaj)null);
  		DMatrixRMaj K2 = PerspectiveOps.pinholeToMatrix(intrinsicRight, (DMatrixRMaj)null);
  
  		rectifyAlg.process(K1, new Se3_F64(), K2, leftToRight);
  
  		// rectification matrix for each image
  		DMatrixRMaj rect1 = rectifyAlg.getRect1();
  		DMatrixRMaj rect2 = rectifyAlg.getRect2();
  		rectifiedR.set(rectifyAlg.getRectifiedRotation());
  
  		// New calibration matrix,
  		rectifiedK.set(rectifyAlg.getCalibrationMatrix());
  
  		// Adjust the rectification to make the view area more useful
  		RectifyImageOps.fullViewLeft(intrinsicLeft, rect1, rect2, rectifiedK);
  
  		// undistorted and rectify images
  		FMatrixRMaj rect1_F32 = new FMatrixRMaj(3,3);
  		FMatrixRMaj rect2_F32 = new FMatrixRMaj(3,3);
  		ConvertMatrixData.convert(rect1, rect1_F32);
  		ConvertMatrixData.convert(rect2, rect2_F32);
  
  		// Extending the image prevents a harsh edge reducing false matches at the image border
  		// SKIP is another option, possibly a tinny bit faster, but has a harsh edge which will need to be filtered
  		ImageDistort<T,T> distortLeft =
  				RectifyImageOps.rectifyImage(intrinsicLeft, rect1_F32, BorderType.EXTENDED, distortedLeft.getImageType());
  		ImageDistort<T,T> distortRight =
  				RectifyImageOps.rectifyImage(intrinsicRight, rect2_F32, BorderType.EXTENDED, distortedRight.getImageType());
  
  		distortLeft.apply(distortedLeft, rectifiedLeft,rectifiedMask);
  		distortRight.apply(distortedRight, rectifiedRight);
  	}