def get_error(self,data,F):
        
        # transpose and split data into the two point
        data = data.T
        x1 = data[:3]
        x2 = data[3:]
        
        # Sampson distance as error measure
        Fx1 = dot(F,x1)
        Fx2 = dot(F,x2)
        denom = Fx1[0]**2 + Fx1[1]**2 + Fx2[0]**2 + Fx2[1]**2
        err = ( diag(dot(x1.T,dot(F,x2))) )**2 / denom 
        
        # return error per point
        return err
Compute x^T F x for all correspondences, 
dataset/ETHPy150Open jesolem/PCV/PCV/geometry/sfm.py/RansacModel.get_error