def plot_epipolar_line(im,F,x,epipole=None,show_epipole=True):
    
    m,n = im.shape[:2]
    line = dot(F,x)
    
    # epipolar line parameter and values
    t = linspace(0,n,100)
    lt = array([(line[2]+line[0]*tt)/(-line[1]) for tt in t])

    # take only line points inside the image
    ndx = (lt>=0) & (lt<m) 
    plot(t[ndx],lt[ndx],linewidth=2)
    
    if show_epipole:
        if epipole is None:
            epipole = compute_epipole(F)
        plot(epipole[0]/epipole[2],epipole[1]/epipole[2],'r*')
Plot the epipole and epipolar line F*x=0
dataset/ETHPy150Open jesolem/PCV/PCV/geometry/sfm.py/plot_epipolar_line