def compute_epipole(F):
    
    # return null space of F (Fx=0)
    U,S,V = linalg.svd(F)
    e = V[-1]
    return e/e[2]
Computes the (right) epipole from a 
dataset/ETHPy150Open jesolem/PCV/PCV/geometry/sfm.py/compute_epipole