docs: public static Se3_F64 estimateCameraMotion(CameraPinholeBrown intrinsic,
  											   List<AssociatedPair> matchedNorm, List<AssociatedPair> inliers)
  	{
  		ModelMatcherMultiview<Se3_F64, AssociatedPair> epipolarMotion =
  				FactoryMultiViewRobust.baselineRansac(new ConfigEssential(),new ConfigRansac(200,0.5));
  		epipolarMotion.setIntrinsic(0,intrinsic);
  		epipolarMotion.setIntrinsic(1,intrinsic);
  
  		if (!epipolarMotion.process(matchedNorm))
  			throw new RuntimeException("Motion estimation failed");
  
  		// save inlier set for debugging purposes
  		inliers.addAll(epipolarMotion.getMatchSet());
  
  		return epipolarMotion.getModelParameters();
  	}