code: public void select(List<Se3_F64> candidatesAtoB,
  					   List<AssociatedPair> observations ,
  					   Se3_F64 model ) {
  
  		// use positive depth constraint to select the best one
  		Se3_F64 bestModel = null;
  		int bestCount = -1;
  		for( int i = 0; i < candidatesAtoB.size(); i++ ) {
  			Se3_F64 s = candidatesAtoB.get(i);
  			int count = 0;
  			for( AssociatedPair p : observations ) {
  				if( depthCheck.checkConstraint(p.p1,p.p2,s)) {
  					count++;
  				}
  			}
  
  			if( count > bestCount ) {
  				bestCount = count;
  				bestModel = s;
  			}
  		}
  
  		if( bestModel == null )
  			throw new RuntimeException("BUG");
  
  		model.set(bestModel);
  	}
docs: Selects the transform which describes a view where observations appear in front of the camera the most
  @param candidatesAtoB List of possible transforms
  @param observations observations in both stereo cameras in normalized image coordinates
  @param model (Output) the selected transform from a to b