def getFundamentalMat(self):
        '''Returns the f-mat of camera 2 to 1 and camera 3 to 1.'''
        ei,eii = self.getEpipoles()
        F21 = array([dot(dot(skew(ei),t),eii) for t in self.T]).T
        F31 = array([dot(dot(skew(eii),t.T),ei) for t in self.T]).T
        return F21, F31
Returns the f-mat of camera 2 to 1 and camera 3 to 1.
recipes/Python/578248_Trifocal_Tensor_class/recipe-578248.py