code: public boolean process( T image ) {
  		tracker.process(image);
  
  		tick++;
  		inlierTracks.clear();
  
  		if( first ) {
  			addNewTracks();
  			first = false;
  		} else {
  			if( !estimateMotion() ) {
  				return false;
  			}
  
  			dropUnusedTracks();
  			int N = motionEstimator.getMatchSet().size();
  
  			if( thresholdAdd <= 0 || N < thresholdAdd ) {
  				changePoseToReference();
  				addNewTracks();
  			}
  
  //			System.out.println("  num inliers = "+N+"  num dropped "+numDropped+" total active "+tracker.getActivePairs().size());
  		}
  
  		return true;
  	}
docs: Estimates the motion given the left camera image.  The latest information required by ImagePixelTo3D
  should be passed to the class before invoking this function.
  
  @param image Camera image.
  @return true if successful or false if it failed