camera_utils.py 文件源码

def compute_epipole(F):
    """ Computes the (right) epipole from a 
        fundamental matrix F. 
        (Use with F.T for left epipole.) """

    # return null space of F (Fx=0)
    U,S,V = linalg.svd(F)
    e = V[-1]
    return e/e[2]