Tricky stuff

So it turns out this 3d reconstruction stuff is a lot more complicated than I initially thought. I am trying to get the essential matrix for my camera system, however I am having real trouble getting something that makes sense. I have code that produces an output, it's just wrong.

It would help if I had a really good text that explained this stuff in baby language so a math retard like me could understand it but unfortunately I don't at the moment so I am doing a lot of googling. I have ordered Multiple View Geometry in Computer Vision from Amazon as this seems to be the authoritative text, however its got a 4-6 week delivery time.

Looks like this could take a while.