code: public static DMatrixRMaj createFundamental(DMatrixRMaj R, Vector3D_F64 T,
  												DMatrixRMaj K1,  DMatrixRMaj K2, @Nullable DMatrixRMaj F )
  	{
  		if( F == null )
  			F = new DMatrixRMaj(3,3);
  		else
  			F.reshape(3,3);
  
  		createEssential(R,T,F);
  		F.set(createFundamental(F,K1,K2));
  		return F;
  	}
docs: <p>
  Computes an fudamental matrix from a rotation, translation, and calibration matrix.  Motion
  is from the first camera frame into the second camera frame.
  </p>
  
  @param R Rotation matrix. first to second
  @param T Translation vector. first to second
  @param K1 Intrinsic camera calibration matrix for camera 1
  @param K2 Intrinsic camera calibration matrix for camera 2
  @param F (Output) Storage for essential matrix. 3x3 matrix
  @return Essential matrix