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        e1UndistImCoords = undistortPointsFast(e1ImCoords, camStereoParams.CameraParameters2);
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        e1UndistImCoords = undistortPointsFast(e1ImCoords, camStereoParams.CameraParameters2);
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        e1NormImCoords = camStereoParams.CameraParameters2.pointsToWorld(eye(3,3), [0, 0, 1], e1UndistImCoords);
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        e1NormImCoords = camStereoParams.CameraParameters2.pointsToWorld(eye(3,3), [0, 0, 1], e1UndistImCoords);
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        x0 = [pI nI(1:2)/nI(3) 70.0 70.0];
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        x0 = [pI nI(1:2)/nI(3) 70.0 70.0];
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        r = circleResiduals(x0);
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        figure;
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        subplot(2,2,1);
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        imagesc(reshape(r(1:length(e0NormImCoords)), 2*margin+1, 2*margin+1), [-50 50]);
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        subplot(2,2,2);
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        imagesc(reshape(r(length(e0NormImCoords)+1:end), 2*margin+1, 2*margin+1), [-50 50]);
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        drawnow;
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        options = optimset('Algorithm', 'levenberg-marquardt', 'Display', 'iter-detailed', 'OutputFcn', @out, 'MaxIter', 30, 'TolFun', 10^(-5), 'TolX', 0);
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        options = optimset('Algorithm', 'levenberg-marquardt', 'Display', 'iter-detailed', 'OutputFcn', @out, 'MaxIter', 30, 'TolFun', 10^(-5), 'TolX', 0);
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        [x, conf(i), ~] = lsqnonlin(@circleResiduals, x0, [], [], options);
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        [x, conf(i), ~] = lsqnonlin(@circleResiduals, x0, [], [], options);
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        r = circleResiduals(x);
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        subplot(2,2,3);
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        imagesc(reshape(r(1:length(e0NormImCoords)), 2*margin+1, 2*margin+1), [-50 50]);
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        subplot(2,2,4);
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        imagesc(reshape(r(length(e0NormImCoords)+1:end), 2*margin+1, 2*margin+1), [-50 50]);
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        display(x);
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        drawnow;
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        E(i,:) = x(1:3);
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        E(i,:) = x(1:3);
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    end
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    end
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    function stop = out(x, optimValues, state)
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    function stop = out(x, optimValues, state)