docs: private void checkEpipoleInside(int width, int height) {
  
  		double x1 = epipole1.x/epipole1.z;
  		double y1 = epipole1.y/epipole1.z;
  		double x2 = epipole2.x/epipole2.z;
  		double y2 = epipole2.y/epipole2.z;
  
  		if( x1 >= 0 && x1 < width && y1 >= 0 && y1 < height )
  			throw new IllegalArgumentException("First epipole is inside the image");
  		if( x2 >= 0 && x2 < width && y2 >= 0 && y2 < height )
  			throw new IllegalArgumentException("Second epipole is inside the image");
  	}