code: protected boolean projectOntoFundamentalSpace( DMatrixRMaj F ) {
  		if( !svdConstraints.decompose(F) ) {
  			return false;
  		}
  		svdV = svdConstraints.getV(svdV,false);
  		svdU = svdConstraints.getU(svdU,false);
  		svdS = svdConstraints.getW(svdS);
  
  		SingularOps_DDRM.descendingOrder(svdU, false, svdS, svdV, false);
  
  		// the smallest singular value needs to be set to zero, unlike
  		svdS.set(2, 2, 0);
  
  		// recompute F
  		CommonOps_DDRM.mult(svdU, svdS, temp0);
  		CommonOps_DDRM.multTransB(temp0,svdV, F);
  
  		return true;
  	}
docs: Projects the found estimate of F onto Fundamental space.
  
  @return true if svd returned true.