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    EssentialMatrix

    pub(all) struct EssentialMatrix {
    matrix :
    Mat3

    } derive(Eq,
    Debug
    )

    FundamentalMatrix

    pub(all) struct FundamentalMatrix {
    matrix :
    Mat3

    } derive(Eq,
    Debug
    )

    epipolar_residual

    estimate_essential_from_fundamental

    fn estimate_essential_from_fundamental(f : FundamentalMatrix, k_left :
    Mat3
    , k_right :
    Mat3
    ) -> EssentialMatrix

    estimate_fundamental_from_translation

    fn estimate_fundamental_from_translation(t :
    Vec3
    ) -> FundamentalMatrix

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