@ Override public boolean generate ( List < AssociatedPair > dataSet , Se3_F64 model ) { if ( ! computeEssential . process ( dataSet , E ) ) return false ; // extract the possible motions decomposeE . decompose ( E ) ; selectBest . select ( decomposeE . getSolutions ( ) , dataSet , model ) ; return true ; }
Computes the camera motion from the set of observations . The motion is from the first into the second camera frame .