Ft = np.transpose(F)


for i in range(28):
    An = np.zeros((4,4),np.float32)
    J = np.array([np.dot(Ft,np.append(Y1[i],1))[0], np.dot(Ft,np.append(Y1[i],1))[1], np.dot(F,np.append(Y[i],1))[0], np.dot(F,np.append(Y[i],1))[1]])
    print "J = ",J
    xyxy = np.array([Y[i][0],Y[i][1],Y1[i][0],Y1[i][1]])
    top = np.dot(np.dot(np.transpose(np.append(Y1[i],1)),F),np.append(Y[i],1))
    print "top = ",top
    ftx = np.dot(np.transpose(F), np.append(Y1[i],1))
    bottom = np.dot(J[2],J[2])+ np.dot(J[3],J[3])+ np.dot(J[0],J[0])+np.dot(J[1],J[1])
    print "bottom = ", bottom
    poi =  xyxy - np.dot((top/bottom),J.T)
    x = np.array([poi[0], poi[1]])
    xn = np.array([poi[2],poi[3]])
    print "xold = ", Y[i]
    print "x2old = ", Y1[i]
    print "x = ",x
    print "xn = ", xn
    points[i,:] = triangulate(An,x,xn)