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diff --git a/macros/rectifyStereoImages.sci b/macros/rectifyStereoImages.sci
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+function [out]=rectifyStereoImages(input_image1,cameramatrix1,Distortion_coff1,input_image2,cameramatrix2,Distortioncoff2,Translationvector,Rotationvector)
+// Rectify the pair of image taken by stereo camera
+//
+// Calling Sequence
+// [left_image,right_image] = rectifyStereoImages  (input_image1,cameramatrix1,Distortion_coff1,input_image2,cameramatrix2,Distortioncoff2,Translationvector,Rotationvector)
+// left_image = rectified input_image1
+// right_image = rectified input_image2
+//
+// Parameters
+//
+// input_image1 : First Stereo image on which rectification has to be performed
+// Cameramatrix1 : An input matrix of 3*3
+// Distortion_coff1 : A vector of size 4 ,5 or 8
+// input_image2 : Second Stereo image on which rectification has to be performed
+// Cameramatrix2 : An input matrix of 3*3
+// Distortion_coff2 : A vector of size 4 ,5 or 8
+// Translationvector : A vector of size 3
+// Rotationvector : An input matrix of 3*3
+// left_image : rectified input_image1
+// right_image : rectfied input_image2
+//
+// Description
+// This function first undistorted and then rectified the both image1 and image2.It uses  camera parameters,respective rotation,translation of both camera.
+//
+// Examples
+// a = imread('lena.jpeg')
+// cameramatrix1 = [1 0 1;0 1 1;0 0 1];
+// Distortion_coff1 = [200 200 400 300];
+// b = imread('lena.jpeg')
+// cameramatrix2 = [2 0 1;0 1 1;0 0 1];
+// Distortion_coff2 = [205 240 410 370];
+// Translationvector = [1 2 3];
+// Rotationvector = [0 0 2;1 4 5;6 7 8];
+// [left_image,right_image] = rectifyStereoImages(a,cameramatrix1,Distortion_coff1,b,cameramatrix2,Distortioncoff2,Translationvector,Rotationvector);
+// imshow(left_image);
+// imshow(right_image);
+//
+// Authors.
+//
+//Diwakar Bhardwaj
+
+         input_image3=mattolist(input_image1);
+          input_image4=mattolist(input_image2);
+       [left_image right_image]=rectifyStereoImages(input_image3,cameramatrix1,Distortion_coff1,input_image4,cameramatrix2,Distortioncoff2,Translationvector,Rotationvector);
+
+           dimension1=size(left_image)
+         for i = 1:dimension1
+              left_out(:,:,i)=left_image(i);
+         end
+
+          dimension2=size(right_image)
+         for j = 1:dimension2
+              right_out(:,:,j)=right_image(j);
+         end
+     
+
+         out=struct("left_rectifyimage",left_out,"right_rectifyimage",right_out);
+
+endfunction;