code: protected boolean computeH(DMatrixRMaj A, DMatrixRMaj H) {
  
  		if( !solverNullspace.process(A.copy(),1,H) )
  			return true;
  
  		H.numRows = 3;
  		H.numCols = 3;
  
  		return false;
  	}
docs: Computes the SVD of A and extracts the homography matrix from its null space