code: public boolean process( List<AssociatedPair> points , DMatrixRMaj solution ) {
  		if( points.size() < 8 )
  			throw new IllegalArgumentException("Must be at least 8 points. Was only "+points.size());
  
  		// use normalized coordinates for pixel and calibrated
  		// TODO re-evaluate decision to normalize for calibrated case
  		LowLevelMultiViewOps.computeNormalization(points, N1, N2);
  		createA(points,A);
  
  		if (process(A,solution))
  			return false;
  
  		// undo normalization on F
  		PerspectiveOps.multTranA(N2.matrix(),solution,N1.matrix(),solution);
  
  		if( computeFundamental )
  			return projectOntoFundamentalSpace(solution);
  		else
  			return projectOntoEssential(solution);
  	}
docs: <p>
  Computes a fundamental or essential matrix from a set of associated point correspondences.
  </p>
  
  @param points List of corresponding image coordinates. In pixel for fundamental matrix or
  normalized coordinates for essential matrix.
  @return true If successful or false if it failed