'**SUMMARY**
Rectify two images from the calibration and rectification parameters.
**PARAMETERS**
* *imgLeft* - Image captured from left camera and needs to be rectified.
* *imgRight* - Image captures from right camera and need to be rectified.
* *calibration* - A calibration tuple of the format (CM1, CM2, D1, D2, R, T, E, F)
* *rectification* - A rectification tuple of the format (R1, R2, P1, P2, Q, roi)
**RETURNS**
returns rectified images in a tuple -> (imgLeft,imgRight)
>>> StereoCam = StereoCamera()
>>> calibration = StereoCam.loadCalibration(fname="Stereo1")
>>> rectification = StereoCam.stereoRectify(loadedCalibration)
>>> imgLeft = camLeft.getImage()
>>> imgRight = camRight.getImage()
>>> rectLeft,rectRight = StereoCam.getImagesUndistort(imgLeft,imgRight,calibration,rectification)'

def getImagesUndistort(self, imgLeft, imgRight, calibration, rectification, WinSize=(352, 288)):

    imgLeft = imgLeft.getMatrix()
    imgRight = imgRight.getMatrix()
    (CM1, CM2, D1, D2, R, T, E, F) = calibration
    (R1, R2, P1, P2, Q, roi) = rectification
    dst1 = cv.CloneMat(imgLeft)
    dst2 = cv.CloneMat(imgRight)
    map1x = cv.CreateMat(WinSize[1], WinSize[0], cv.CV_32FC1)
    map2x = cv.CreateMat(WinSize[1], WinSize[0], cv.CV_32FC1)
    map1y = cv.CreateMat(WinSize[1], WinSize[0], cv.CV_32FC1)
    map2y = cv.CreateMat(WinSize[1], WinSize[0], cv.CV_32FC1)
    cv.InitUndistortRectifyMap(CM1, D1, R1, P1, map1x, map1y)
    cv.InitUndistortRectifyMap(CM2, D2, R2, P2, map2x, map2y)
    cv.Remap(imgLeft, dst1, map1x, map1y)
    cv.Remap(imgRight, dst2, map2x, map2y)
    return (Image(dst1), Image(dst2))
