docs: public boolean computeHomography( CalibrationObservation observedPoints )
  	{
  		if( observedPoints.size() < 4)
  			throw new IllegalArgumentException("At least 4 points needed in each set of observations. " +
  					" Filter these first please");
  
  		List<AssociatedPair> pairs = new ArrayList<>();
  		for( int i = 0; i < observedPoints.size(); i++ ) {
  			int which = observedPoints.get(i).index;
  			Point2D_F64 obs = observedPoints.get(i);
  
  			pairs.add( new AssociatedPair(worldPoints.get(which),obs,true));
  		}
  
  		if( !computeHomography.process(pairs,found) )
  			return false;
  
  		// todo do non-linear refinement.  Take advantage of coordinates being fixed
  
  		return true;
  	}