docs: public boolean process(List<AssociatedTriple> associated , int width , int height ) {
  		init(width, height);
  
  		// Fit a trifocal tensor to the input observations
  		if (!robustFitTrifocal(associated) )
  			return false;
  
  		// estimate the scene's structure
  		if( !estimateProjectiveScene())
  			return false;
  
  		if( !projectiveToMetric() )
  			return false;
  
  		// Run bundle adjustment while make sure a valid solution is found
  		setupMetricBundleAdjustment(inliers);
  
  		bundleAdjustment = FactoryMultiView.bundleSparseMetric(configSBA);
  		findBestValidSolution(bundleAdjustment);
  
  		// Prune outliers and run bundle adjustment one last time
  		pruneOutliers(bundleAdjustment);
  
  		return true;
  	}