code: public boolean process(List<AssociatedTriple> associated , int width , int height ) {
  		init(width, height);
  
  		// Fit a trifocal tensor to the input observations
  		if (!robustFitTrifocal(associated) )
  			return false;
  
  		// estimate the scene's structure
  		if( !estimateProjectiveScene())
  			return false;
  
  		if( !projectiveToMetric() )
  			return false;
  
  		// Run bundle adjustment while make sure a valid solution is found
  		setupMetricBundleAdjustment(inliers);
  
  		bundleAdjustment = FactoryMultiView.bundleSparseMetric(configSBA);
  		findBestValidSolution(bundleAdjustment);
  
  		// Prune outliers and run bundle adjustment one last time
  		pruneOutliers(bundleAdjustment);
  
  		return true;
  	}
docs: Determines the metric scene. The principle point is assumed to be zero in the passed in pixel coordinates.
  Typically this is done by subtracting the image center from each pixel coordinate for each view.
  
  @param associated List of associated features from 3 views. pixels
  @param width width of all images
  @param height height of all images
  @return true if successful or false if it failed