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+function xyzrefinedPoints = bundleAdjustment(_3dpoints, imagepoints, visibility, cameramatrix, rotation, translation, distcoeffs)
+// Refine camera poses and 3-d points
+//
+// Calling Sequence
+// xyzrefinedPoints = bundleAdjustment(_3dpoints, imagepoints, visibility, cameramatrix, rotation, translation, distcoeffs)
+//
+// Parameters
+// _3dpoints : N * 3 object points
+// imagepoints : M * N * 2 image points for each camera and each points
+// visibility : M * N * 1 visibility matrix, element[i][j] = 1 when object point i is visible from camera j and 0 if not
+// cameramatrix : M * 3 * 3 camera matrix(intrinsic parameters) 3 * 3 camera matrix for each image
+// rotation : M * 3 * 3 rotation matrix for each image
+// translation : M * 3 * 1 translation matrix for each image
+// distcoeffs : M * (4 * 5 * 8) * 1 distortion coefficient for each image
+// xyzrefinedPoints : Refined N * 3 object points 
+//
+// Description
+// The function returns the refined 3-D points. The refinement procedure uses Levenberg-Marquardt algorithm.
+//
+// Examples
+// xyzrefinedPoints = bundleAdjustment(_3dpoints, imagepoints, visibility, cameramatrix, rotation, translation, distcoeffs)
+//
+// Authors
+// Suraj Prakash
+
+	
+	xyzrefinedPoints = opencv_bundleAdjustment(_3dpoints, imagepoints, visibility, cameramatrix, rotation, translation, distcoeffs)
+	
+endfunction