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    %% Compute Fundamental Matrix
% The RANSAC method requires that the input points are already 
% putatively matched. We can, for example, use the |matchFeatures| 
% function for this. Using the RANSAC algorithm eliminates any outliers
% which may still be contained within putatively matched points. 
%%
% Load stereo points.
load stereoPointPairs
%%
% Estimate the fundamental matrix.
fRANSAC = estimateFundamentalMatrix(matchedPoints1,...
    matchedPoints2,'Method','RANSAC',...
    'NumTrials',2000,'DistanceThreshold',1e-4)