Estimate the Fundamental Matrix of an un-calibrated camera using the 8-Point Algorithm.
- Normalize the image points for better numerical conditioning.
- Linear estimation: from the epipolar constraint equation, build the linear system with the entries of F as the unknowns and solve it using SVD
- Enforce rank-2 condition: the estimated matrix may not necessarily satisfy the rank-2 condition of a Fundamental matrix. Enforce this constraint explicitly using SVD by setting the last singular value to 0
- Denormalize the estimated fundamental matrix
