code: public static DMatrixRMaj createFundamental(DMatrixRMaj E,
  												DMatrixRMaj K1,  DMatrixRMaj K2) {
  		DMatrixRMaj K1_inv = new DMatrixRMaj(3,3);
  		CommonOps_DDRM.invert(K1,K1_inv);
  		DMatrixRMaj K2_inv = new DMatrixRMaj(3,3);
  		CommonOps_DDRM.invert(K2,K2_inv);
  
  		DMatrixRMaj F = new DMatrixRMaj(3,3);
  		DMatrixRMaj temp = new DMatrixRMaj(3,3);
  
  		CommonOps_DDRM.multTransA(K2_inv,E,temp);
  		CommonOps_DDRM.mult(temp,K1_inv,F);
  
  		return F;
  	}
docs: Computes a Fundamental matrix given an Essential matrix and the camera calibration matrix.
  
  F = (K2<sup>-1</sup>)<sup>T</sup>*E*K1<sup>-1</sup>
  
  @param E Essential matrix
  @param K1 Intrinsic camera calibration matrix for camera 1
  @param K2 Intrinsic camera calibration matrix for camera 2
  @return Fundamental matrix