Accord.Imaging.Tools.createFundamentalMatrix C# (CSharp) Method

        private static float[,] createFundamentalMatrix(float[,] A)
        {
            float[,] U, V;
            float[] D;

            SingularValueDecompositionF svd = new SingularValueDecompositionF(A,
                computeLeftSingularVectors: false, computeRightSingularVectors: true,
                autoTranspose: true, inPlace: true);

            V = svd.RightSingularVectors;

            int s = svd.RightSingularVectors.GetLength(1) - 1;

            float[,] F = 
            {
                { V[0, s], V[1, s], V[2, s] },
                { V[3, s], V[4, s], V[5, s] },
                { V[6, s], V[7, s], V[8, s] },
            };

            svd = new SingularValueDecompositionF(F,
                computeLeftSingularVectors: true, computeRightSingularVectors: true,
                autoTranspose: true, inPlace: false);

            U = svd.LeftSingularVectors;
            D = svd.Diagonal;
            V = svd.RightSingularVectors;

            D[2] = 0;

            // Reconstruct with rank 2 approximation
            var newF = U.DotWithDiagonal(D).Dot(V.Transpose());

            F = newF;
            return F;
        }
        #endregion