code: public boolean process( List<AssociatedPair> observations , List<Point3D_F64> locations ) {
  		if( observations.size() != locations.size() )
  			throw new IllegalArgumentException("Number of observations and locations must match.");
  
  		if( observations.size() < 6 )
  			throw new IllegalArgumentException("At least (if not more than) six points are required.");
  
  		setupA(observations,locations);
  
  		if( !solveNullspace.process(A,1,P))
  			return false;
  
  		P.numRows = 3;
  		P.numCols = 4;
  
  		return true;
  	}
docs: Computes the transformation between two camera frames using a linear equation.  Both the
  observed feature locations in each camera image and the depth (z-coordinate) of each feature
  must be known.  Feature locations are in calibrated image coordinates.
  
  @param observations List of observations on the image plane in calibrated coordinates.
  @param locations List of object locations.  One for each observation pair.