>
> Rviz doesn't do the rectification, you would have to use image_proc to
> do that. I believe that Rviz assumes that you are pointing at a
> rectified image and uses the camera_info so that it can place a
> synthetic view of the robot on top of the camera image. So Rviz uses the
> projection matrix, but not the distortion parameters. (Please do not
> consider this statement as authoritative.)
>
>
Right