code: public static List<Se3_F64> decomposeEssential( DMatrixRMaj E21 ) {
  		DecomposeEssential d = new DecomposeEssential();
  
  		d.decompose(E21);
  
  		return d.getSolutions();
  	}
docs: Decomposes an essential matrix into the rigid body motion which it was constructed from.  Due to ambiguities
  there are four possible solutions.  See {@link DecomposeEssential} for the details.  The correct solution can
  be found using triangulation and the positive depth constraint, e.g. the objects must be in front of the camera
  to be seen.  Also note that the scale of the translation is lost, even with perfect data.
  
  @see DecomposeEssential
  
  @param E21 An essential matrix.
  @return Four possible motions. From view 1 to view 2.