Stereo Rectification through OpenCV in the uncalibrated variant. Full article for context and remaining code: https://www.andreasjakl.com/understand-and-apply-stereo-rectification-for-depth-maps-part-2/

stereo_rectification.py

# Stereo rectification (uncalibrated variant)
# Adapted from: https://stackoverflow.com/a/62607343
h1, w1 = img1.shape
h2, w2 = img2.shape
_, H1, H2 = cv.stereoRectifyUncalibrated(
    np.float32(pts1), np.float32(pts2), fundamental_matrix, imgSize=(w1, h1)
)