code: public void extractFundmental( DMatrixRMaj F21 , DMatrixRMaj F31 ) {
  		// compute the camera matrices one column at a time
  		for( int i = 0; i < 3; i++ ) {
  			DMatrixRMaj T = tensor.getT(i);
  
  
  			GeometryMath_F64.mult(T,e3,temp0);
  			GeometryMath_F64.cross(e2,temp0,column);
  
  			F21.set(0,i,column.x);
  			F21.set(1,i,column.y);
  			F21.set(2,i,column.z);
  
  			GeometryMath_F64.multTran(T,e2,temp0);
  			GeometryMath_F64.cross(e3,temp0,column);
  
  			F31.set(0,i,column.x);
  			F31.set(1,i,column.y);
  			F31.set(2,i,column.z);
  		}
  	}
docs: <p>
  Extract the fundamental matrices between views 1 + 2 and views 1 + 3.  The returned Fundamental
  matrices will have the following properties: x<sub>i</sub><sup>T</sup>*Fi*x<sub>1</sub> = 0, where i is view 2 or 3.
  </p>
  
  <p>
  NOTE: The first camera is assumed to have the camera matrix of P1 = [I|0].  Thus observations in pixels for
  the first camera will not meet the epipolar constraint when applied to the returned fundamental matrices.
  </p>
  
  <pre>
  F21=[e2]x *[T1,T2,T3]*e3 and F31 = [e3]x*[T1,T2,T3]*e3
  </pre>
  
  @param F21 (Output) Fundamental matrix
  @param F31 (Output) Fundamental matrix