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I finally solved this problem using the code from findFundamentalMat as suggested by @eduardo in his question and answer.

To compute the reprojection error, the computeError function (link to the code) can be used. I would like to underline that the variable d1 is basically the residual computed as x'Fx=0: at the price of one it is possible to retrieve two error measures

I finally solved this problem using the code from findFundamentalMat as suggested by @eduardo in his question and answer.

To compute the reprojection error, I used the computeError function (link to the code) can be used. I would like to underline that the variable d1 is basically the residual computed as x'Fx=0: at the price of one it is possible to retrieve two error measures).