docs: public static Estimate1ofTrifocalTensor trifocal_1( @Nullable ConfigTrifocal config ) {
  		if( config == null ) {
  			config = new ConfigTrifocal();
  		}
  
  		switch( config.which ) {
  			case LINEAR_7:
  				return new WrapTrifocalLinearPoint7();
  
  			case ALGEBRAIC_7:
  				ConfigConverge cc = config.converge;
  				UnconstrainedLeastSquares optimizer = FactoryOptimization.levenbergMarquardt(null, false);
  				TrifocalAlgebraicPoint7 alg = new TrifocalAlgebraicPoint7(optimizer,
  						cc.maxIterations,cc.ftol,cc.gtol);
  
  				return new WrapTrifocalAlgebraicPoint7(alg);
  		}
  
  		throw new IllegalArgumentException("Unknown type "+config.which);
  	}