code: private void addNewTracks() {
  //		System.out.println("----------- Adding new tracks ---------------");
  
  		tracker.spawnTracks();
  		List<PointTrack> spawned = tracker.getNewTracks(null);
  
  		// estimate 3D coordinate using stereo vision
  		for( PointTrack t : spawned ) {
  			Point2D3DTrack p = t.getCookie();
  			if( p == null) {
  				t.cookie = p = new Point2D3DTrack();
  			}
  
  			// discard point if it can't localized
  			if( !pixelTo3D.process(t.x,t.y) || pixelTo3D.getW() == 0 ) {
  				tracker.dropTrack(t);
  			} else {
  				Point3D_F64 X = p.getLocation();
  
  				double w = pixelTo3D.getW();
  				X.set(pixelTo3D.getX() / w, pixelTo3D.getY() / w, pixelTo3D.getZ() / w);
  
  				// translate the point into the key frame
  				// SePointOps_F64.transform(currToKey,X,X);
  				// not needed since the current frame was just set to be the key frame
  
  				p.lastInlier = tick;
  				pixelToNorm.compute(t.x, t.y, p.observation);
  			}
  		}
  	}
docs: Detects new features and computes their 3D coordinates