docs: public static ModelMatcherMultiview<Se3_F64, AssociatedPair> baselineRansac(@Nullable ConfigEssential essential,
  																				@Nonnull ConfigRansac ransac )
  	{
  		if( essential == null )
  			essential = new ConfigEssential();
  		else
  			essential.checkValidity();
  		ransac.checkValidity();
  
  		if( essential.errorModel != ConfigEssential.ErrorModel.GEOMETRIC) {
  			throw new RuntimeException("Error model has to be Euclidean");
  		}
  
  		Estimate1ofEpipolar epipolar = FactoryMultiView.
  				essential_1(essential.which, essential.numResolve);
  
  		Triangulate2ViewsMetric triangulate = FactoryMultiView.triangulate2ViewMetric(
  				new ConfigTriangulation(ConfigTriangulation.Type.GEOMETRIC));
  		ModelManager<Se3_F64> manager = new ModelManagerSe3_F64();
  		ModelGenerator<Se3_F64, AssociatedPair> generateEpipolarMotion =
  				new Se3FromEssentialGenerator(epipolar, triangulate);
  
  		DistanceFromModelMultiView<Se3_F64, AssociatedPair> distanceSe3 =
  				new DistanceSe3SymmetricSq(triangulate);
  
  		double ransacTOL = ransac.inlierThreshold * ransac.inlierThreshold * 2.0;
  
  		return new RansacMultiView<>(ransac.randSeed, manager, generateEpipolarMotion, distanceSe3,
  				ransac.maxIterations, ransacTOL);
  	}