?? vgg_p_from_f.m
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%P = vgg_P_from_F(F) Compute cameras from fundamental matrix.
% F has size (3,3), P has size (3,4).
%
% If x2'*F*x1 = 0 for any pair of image points x1 and x2,
% then the camera matrices of the image pair are
% P1 = eye(3,4) and P2 = vgg_P_from_F(F), up to a scene homography.
% Tomas Werner, Oct 2001
function P = vgg_P_from_F(F)
[U,S,V] = svd(F);
e = U(:,3);
P = [-vgg_contreps(e)*F e];
return
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