def compute_P_from_fundamental(F):
 e = compute_epipole(F.T)
 Te = skew(e)
 return vstack((dot(Te, F.T).T, e)).T

def compute_P_from_fundamental ( F ) : e = compute_epipole ( F . T ) Te = skew ( e ) return vstack ( ( dot ( Te , F . T ) . T , e ) ) . T
computes the second camera matrix from a fundamental matrix .