code: @Override
  	public boolean generate(List<AssociatedPair> dataSet, Se3_F64 model ) {
  		if( !computeEssential.process(dataSet,E) )
  			return false;
  
  		// extract the possible motions
  		decomposeE.decompose(E);
  		selectBest.select(decomposeE.getSolutions(),dataSet,model);
  
  		return true;
  	}
docs: Computes the camera motion from the set of observations.   The motion is from the first
  into the second camera frame.
  
  @param dataSet Associated pairs in normalized camera coordinates.
  @param model The best pose according to the positive depth constraint.