docs: static SimpleMatrix rotateEpipole( Point3D_F64 epipole , int x0 , int y0 )
  	{
  		// compute rotation which will set
  		// x * sin(theta) + y * cos(theta) = 0
  
  		double x = epipole.x/epipole.z-x0;
  		double y = epipole.y/epipole.z-y0;
  
  		double theta = Math.atan2(-y,x);
  		double c = Math.cos(theta);
  		double s = Math.sin(theta);
  
  		SimpleMatrix R = new SimpleMatrix(3,3);
  		R.setRow(0, 0, c,-s);
  		R.setRow(1, 0, s, c);
  		R.set(2, 2, 1);
  
  		return R;
  	}