docs: protected boolean isRotationFromAxisY(PointTrack t, Vector3D_F64 pointing) {
  
  		VoTrack p = t.getCookie();
  
  		// remove rotations not along x-z plane
  		double normXZ = Math.sqrt(pointing.x * pointing.x + pointing.z * pointing.z);
  		pointingAdj.set(pointing.x / normXZ, p.pointingY, pointing.z / normXZ);
  		// Put pointing vector back into camera frame
  		GeometryMath_F64.multTran(cameraToPlane.getR(), pointingAdj, pointingAdj);
  
  		// compute normalized image coordinates
  		n.x = pointingAdj.x / pointingAdj.z;
  		n.y = pointingAdj.y / pointingAdj.z;
  
  		// compute pixel of projected point
  		normToPixel.compute(n.x, n.y, pixel);
  
  		// compute error
  		double error = pixel.distance2(t);
  
  		return error < thresholdPixelError * thresholdPixelError;
  	}