code: public static DMatrixRMaj fundamentalToProjective(DMatrixRMaj F , Point3D_F64 e2, Vector3D_F64 v , double lambda ) {
  
  		FundamentalToProjective f2p = new FundamentalToProjective();
  		DMatrixRMaj P = new DMatrixRMaj(3,4);
  		f2p.twoView(F,e2,v,lambda,P);
  		return P;
  	}
docs: <p>
  Given a fundamental matrix a pair of camera matrices P and P1' are extracted. The camera matrices
  are 3 by 4 and used to project a 3D homogenous point onto the image plane. These camera matrices will only
  be known up to a projective transform, thus there are multiple solutions, The canonical camera
  matrix is defined as: <br>
  <pre>
  P=[I|0] and P'= [M|-M*t] = [[e']*F + e'*v^t | lambda*e']
  </pre>
  where e' is the epipole F<sup>T</sup>e' = 0, [e'] is the cross product matrix for the enclosed vector,
  v is an arbitrary 3-vector and lambda is a non-zero scalar.
  </p>
  
  <p>
  NOTE: Additional information is needed to upgrade this projective transform into a metric transform.
  </p>
  <p>
  Page 256 in R. Hartley, and A. Zisserman, "Multiple View Geometry in Computer Vision", 2nd Ed, Cambridge 2003
  </p>
  
  @see #extractEpipoles
  @see FundamentalToProjective
  
  @param F (Input) A fundamental matrix
  @param e2 (Input) Left epipole of fundamental matrix, F<sup>T</sup>*e2 = 0.
  @param v (Input) Arbitrary 3-vector.  Just pick some value, say (0,0,0).
  @param lambda (Input) A non zero scalar.  Try one.
  @return The canonical camera (projection) matrix P' (3 by 4) Known up to a projective transform.