Rectified vs raw image

[vsys-gv]

Hello!
I have a calibrated 2D (monocular) camera, so I have the raw and rectified images (image_raw and image_rect_color).

Does this tool internally undistort the image/detected markers, or do we need to provide the rectified image?
Maybe this should be also specified in the documentation.

Thanks.

[a-nooj]

The call to estimatePoseBoard takes distortion coefficients as input.

So I'm guessing this tool takes the raw image.