code: public boolean process(Quadrilateral_F64 corners, boolean unitsPixels) {
  
  		if( unitsPixels ) {
  			pixelCorners.set(corners);
  			pixelToNorm.compute(corners.a.x, corners.a.y, normCorners.a);
  			pixelToNorm.compute(corners.b.x, corners.b.y, normCorners.b);
  			pixelToNorm.compute(corners.c.x, corners.c.y, normCorners.c);
  			pixelToNorm.compute(corners.d.x, corners.d.y, normCorners.d);
  		} else {
  			normCorners.set(corners);
  			normToPixel.compute(corners.a.x, corners.a.y, pixelCorners.a);
  			normToPixel.compute(corners.b.x, corners.b.y, pixelCorners.b);
  			normToPixel.compute(corners.c.x, corners.c.y, pixelCorners.c);
  			normToPixel.compute(corners.d.x, corners.d.y, pixelCorners.d);
  		}
  
  		if( estimate(pixelCorners, normCorners, outputFiducialToCamera) ) {
  			outputError = computeErrors(outputFiducialToCamera);
  			return true;
  		} else {
  			return false;
  		}
  	}
docs: <p>Estimate the 3D pose of the camera from the observed location of the fiducial.</p>
  
  MUST call {@link #setFiducial} and {@link #setLensDistoriton} before calling this function.
  
  @param corners Observed corners of the fiducial.
  @param unitsPixels If true the specified corners are in  original image pixels or false for normalized image coordinates
  @return true if successful or false if not