Epipolar Geometry: Take two images I$1$ and I$2$ from your mobile camera of same scene but some rotation and translation. Both the images must have some common scene. Now manually pick up some common points between these two images.

a$)$ Compute a Robust Fundamental Matrix between. Provide supporting arguments on why it's robust.

b$)$ Write a program that if one randomly clicks one any none point in image I$1$ the epipolar line is plotted in image $12$ and vice a versa.

c$)$ Write a function that shows epipoles in el in image $1$ and e$2$ image $2$