code: private static void adjustUncalibrated(FMatrixRMaj rectifyLeft, FMatrixRMaj rectifyRight,
  										   RectangleLength2D_F32 bound, float scale) {
  		// translation
  		float deltaX = -bound.x0*scale;
  		float deltaY = -bound.y0*scale;
  
  		// adjustment matrix
  		SimpleMatrix A = new SimpleMatrix(3,3,true,new float[]{scale,0,deltaX,0,scale,deltaY,0,0,1});
  		SimpleMatrix rL = SimpleMatrix.wrap(rectifyLeft);
  		SimpleMatrix rR = SimpleMatrix.wrap(rectifyRight);
  
  		rectifyLeft.set(A.mult(rL).getFDRM());
  		rectifyRight.set(A.mult(rR).getFDRM());
  	}
docs: Internal function which applies the rectification adjustment to an uncalibrated stereo pair