docs: public boolean process( T left , T right ) {
  
  		if( first ) {
  			associateL2R(left, right);
  			first = false;
  		} else {
  //			long time0 = System.currentTimeMillis();
  			associateL2R(left, right);
  //			long time1 = System.currentTimeMillis();
  			associateF2F();
  //			long time2 = System.currentTimeMillis();
  			cyclicConsistency();
  //			long time3 = System.currentTimeMillis();
  			if( !estimateMotion() )
  				return false;
  //			long time4 = System.currentTimeMillis();
  
  //			System.out.println("timing: "+(time1-time0)+" "+(time2-time1)+" "+(time3-time2)+" "+(time4-time3));
  
  		}
  
  		return true;
  	}