This equation can be expanded to
where u1 and v1 are known entities, u and v are variables. This is the equation of a line in the second retinal plane. It is the epipolar line on which m' must lie.
Given a point m that has coordinates (u1,v1) in the first retinal plane ,to compute the epipolar line l that contains m, we must first compute the epipole e .
e intersection point of all epipolar lines in .
The coordinates of l can then be computed as the cross-product of e and m.