问MATLAB estimateUncalibratedRectification非确定性行为

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Warning: An epipole may be located inside of an image. The epipoles
are located at [285.8503,76.1656] in I1 and [265.5734,130.3931] in I2,
but the specified imageSize was [320,568]. Severe distortion may
result if T1 or T2 are used to transform these images. See
isEpipoleInImage for more information. 
> In coder.internal.warning (line 7)
  In cvalgEstimateUncalibratedRectification (line 114)
  In estimateUncalibratedRectification (line 107)
  In pairwiseTransformation (line 48)

function [t1, t2] = pairwiseTransformation(img1, img2, features1, features2)

    % Identify putative matches
    [matches1, matches2] = matchFeaturePoints(rgb2gray(img1), features1, ...
        rgb2gray(img2), features2);

    % Estimate the fundamental matrix so that matches2' * F * matches1 = 0
    % F transforms matches1 to a line that runs through the corresponding
    % point in matches1. Therefore, any rotation and translation derived from F
    % (and E) will apply to camera 2's relative position, holding camera 1 fixed.
    [F, inliers] = estimateFundamentalMatrix(matches1, matches2, 'Method', 'RANSAC', ...
        'NumTrials', 2000, 'DistanceThreshold', 1e-4);

    % Use the RANSAC inliers to determine the relative position of img2 compared to img1
    inlierMatches1 = matches1(inliers, :);
    inlierMatches2 = matches2(inliers, :);


    [t1, t2] = estimateUncalibratedRectification(F, inlierMatches1, inlierMatches2, ...
        size(img1));

    r1 = imwarp(img1, projective2d(t1), 'OutputView', imref2d(size(img1)));
    r2 = imwarp(img2, projective2d(t2), 'OutputView', imref2d(size(img1)));

    figure;
    subplot(2,2,1),imshow(img1)
    subplot(2,2,2),imshow(img2)
    subplot(2,2,3),imshow(r1)
    subplot(2,2,4),imshow(r2)
end