Calculate and use rectified ROI
Adjust P by rectified ROI instead
For large binning settings, can drop extra rows/cols at bottom/right boundary. Make sure we're handling that 100% correctly.
Should binned resolution, K, P be part of public API?
Use rectified ROI
Tests with simple values (R = identity, D = 0, P = K or simple scaling)
Test projection functions for right stereo values, P(:,3) != 0
Tests for [un]rectifyImage
Tests using ROI, needs support from PinholeCameraModel
Tests for StereoCameraModel