I have two calibrated cameras, so I know the essential an intrinsic matrices and I have computed the homography between a set of hand selected points. They are hand selected because the selection of the points requires domain knowledge beyond which automatic point selection cannot be relied upon - that is, it is a expert selecting the points. That said, the expert will be off slightly by a few pixels and a least squares solution (SVD) is used of course. I'm thinking that I want to assist the surgeon in selecting the corresponding points by computing the epipolar line in the corresponding image as the user selects points. This means that I need the fundamental matrix from the two camera matrices. All the examples that I see say "Let's assume that camera 1 is at
\begin{array}{c|c} I&0 \end{array}
and camera 2 is at
\begin{array}{c|c} R&t \end{array}
but my first camera is not at the origin.
How does that change the computation of F?
Thanks