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I believe so yes. Any two parallel lines in real life should remain parallel in the image, if it is properly calibrated. Which means straight lines appear straight.

They don't necessarily all have to be in the same row or column of the image, but if you take the pixels that are part of the line, it should be very close to a straight line. Of course, not perfect because pixels are discrete, but close.

Here is a good slide deck on calibration.