Then,
I think the camera model used in your sample_video_rectifier is ocam according to the linked rig file. i wonder why the source code was writen to dwCalibratedCamera_initializePinhole in RectifierApp::initCameras.
Don’t you need to use dwCalibratedCamera_initializeOcam?
Essentially, what the rectifier does is to “warp” images from an input camera to an output camera. The input camera in this case is a (distorted) OCAM model, that is correct, however, the pinhole camera you mention is the output camera (which can surely be a different model one than the one from the rig), and the rectifier computes the map from OCAM->pinhole. In this case, an undistorted pinhole camera was choose on purpose to “illustrate” the rectification / undoing of the fisheye-lens distortion. Thanks.