docs: public void setIntrinsic(CameraPinholeBrown intrinsic) {
  		planeProjection.setIntrinsic(intrinsic);
  		normToPixel = LensDistortionFactory.narrow(intrinsic).distort_F64(false,true);
  		pixelToNorm = LensDistortionFactory.narrow(intrinsic).undistort_F64(true,false);
  
  		// Find the change in angle caused by a pixel error in the image center.  The same angle error will induce a
  		// larger change in pixel values towards the outside of the image edge.  For fish-eyes lenses this could
  		// become significant.  Not sure what a better way to handle it would be
  		thresholdFarAngleError = Math.atan2(thresholdPixelError, intrinsic.fx);
  	}