code: public static void allInsideLeft( int imageWidth,int imageHeight,
  									  DMatrixRMaj rectifyLeft, DMatrixRMaj rectifyRight )
  	{
  		ImplRectifyImageOps_F64.allInsideLeft(imageWidth, imageHeight, rectifyLeft, rectifyRight);
  	}
docs: <p>
  Adjust the rectification such that only pixels which overlap the original left image can be seen.  For use with
  uncalibrated images with unknown baselines.  Image processing is easier since only the "true" image pixels
  are visible, but information along the image border has been discarded.  The rectification matrices are
  overwritten with adjusted values on output.
  </p>
  
  @param imageWidth Width of left image.
  @param imageHeight Height of left image.
  @param rectifyLeft Rectification matrix for left image. Input and Output. Modified.
  @param rectifyRight Rectification matrix for right image. Input and Output. Modified.