docs: double scoreForTriangulation( Motion motion ) {
  		DMatrixRMaj H = new DMatrixRMaj(3,3);
  
  		View viewA = motion.viewSrc;
  		View viewB = motion.viewDst;
  
  		// Compute initial estimate for H
  		pairs.reset();
  		for (int i = 0; i < motion.associated.size(); i++) {
  			AssociatedIndex ai = motion.associated.get(i);
  			pairs.grow().set(
  					viewA.observationPixels.get(ai.src),
  					viewB.observationPixels.get(ai.dst));
  		}
  
  		if(!computeH.process(pairs.toList(),H))
  			return -1;
  
  		// remove bias from linear model
  		if( !refineH.fitModel(pairs.toList(),H,H) )
  			return -1;
  
  
  		// Compute 50% errors to avoid bias from outliers
  		MultiViewOps.errorsHomographySymm(pairs.toList(),H,null,errors);
  		errors.sort();
  
  		return errors.getFraction(0.5)*Math.max(5,pairs.size-20);
  	}