Recover the camera matrices from estimated fundamental matrix F Use the camera matrices to compute the point correspondences. Without K1 and K2 (internal calibration), recover a projective transforme With K1 and K2, recover the metric reconstruction. The epipolar constraint defines a line, since x2^T F x1 = l1^T x1 = 0 An epipolar line corresponding to the point x2, because l1^T x1 = 0 Thus x2 is on the epipolar line A point e is epipole, when the epipolar lines meet at this point e. Must satisfy: F e1 = 0 or e2^T F = 0
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