code: public void setFundamental( DMatrixRMaj F , Point3D_F64 e2 ) {
  		this.F = F;
  		if( e2 != null )
  			this.e2.set(e2);
  		else {
  			MultiViewOps.extractEpipoles(F,new Point3D_F64(),this.e2);
  		}
  	}
docs: Specify the fundamental matrix and the camera 2 epipole.
  
  @param F Fundamental matrix.
  @param e2 Epipole for camera 2.  If null it will be computed internally.