function?[HlHr]?=?compRectif（mlmrwidthheightcntr）
%compRectif?compute?the?rectifying?transformations
%
%?HlHr?are?the?collineations?that?rectify?the?left?and?right?images
%?respectively
%
%?mlmr?are?coresponding?point?in?the?images?
%
%?width?height?are?the?dimensions?of?the?image?（used?to?imfer?the?focal
%?and?the?image?centre）
%?
%?cntr?‘on‘?enables?the?automatic?centering;?‘off‘?disables?it.



%?default
if?nargin?==?4
????cntr=‘on‘;
end

%?use?jacobian?
options?=?optimset（‘Jacobian‘‘off‘）;

a0?=?[0?0?0?0?0?0];
[afresnormresidualexitflagoutputlambdajacobian]?=?lsqnonlin（@（x）?costRectif（xwidthheightmlmr）?a0...
????[-pi/2?-pi/2?-pi/2?-pi/2?-pi/2?-1.5]?[pi/2?pi/2?pi/2?pi/2?pi/2?1.5]options）;


%err?=?sqrt（sum（residual））/（length（ml））;
%fprintf（‘Sampson?RMS:

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2009-04-16?19:21??RectifKitU\
?????文件????????2364??2009-04-16?19:21??RectifKitU\compRectif.m
?????文件???????63214??2009-04-16?19:21??RectifKitU\costRectif.m
?????目錄???????????0??2009-04-16?19:21??RectifKitU\data\
?????文件????????6155??2009-04-16?19:21??RectifKitU\data\cporta_pairs.mat
?????文件?????????489??2009-04-16?19:21??RectifKitU\Disclaimer.txt
?????文件?????????768??2009-04-16?19:21??RectifKitU\eulR.m
?????文件????????1449??2009-04-16?19:21??RectifKitU\fm.m
?????目錄???????????0??2009-04-16?19:21??RectifKitU\images\
?????目錄???????????0??2009-04-16?19:21??RectifKitU\imagesU\
?????文件??????498630??2009-04-16?19:21??RectifKitU\imagesU\cporta_R_0.png
?????文件??????514064??2009-04-16?19:21??RectifKitU\imagesU\cporta_R_1.png
?????文件????????6148??2009-04-16?19:21??RectifKitU\images\.DS_Store
?????文件??????535351??2009-04-16?19:21??RectifKitU\images\cporta0.png
?????文件??????541815??2009-04-16?19:21??RectifKitU\images\cporta1.png
?????文件????????2321??2009-04-16?19:21??RectifKitU\imwarp.m
?????文件?????????630??2009-04-16?19:21??RectifKitU\ivec.m
?????文件?????????558??2009-04-16?19:21??RectifKitU\License
?????文件?????????793??2009-04-16?19:21??RectifKitU\mcbb.m
?????文件?????????564??2009-04-16?19:21??RectifKitU\ns.m
?????文件?????????597??2009-04-16?19:21??RectifKitU\p2t.m
?????文件?????????799??2009-04-16?19:21??RectifKitU\plotseg.m
?????文件????????1662??2009-04-16?19:21??RectifKitU\precond2.m
?????文件?????????802??2009-04-16?19:21??RectifKitU\readme.txt
?????文件????????2928??2009-04-16?19:21??RectifKitU\rectifyImageU.m
?????文件?????????735??2009-04-16?19:21??RectifKitU\sampson.m
?????文件?????????356??2009-04-16?19:21??RectifKitU\star.m
?????文件??????????31??2009-04-16?19:21??RectifKitU\vec.m