docs: double computeError( List<AssociatedPair> points , Se3_F64 worldToCamera ) {
  
  		double error = 0;
  
  		for (int i = 0; i < points.size(); i++) {
  			AssociatedPair pair = points.get(i);
  			tmpP.set(pair.p1.x,pair.p1.y,0);
  			SePointOps_F64.transform(worldToCamera,tmpP,tmpP);
  
  			error += pair.p2.distance2(tmpP.x/tmpP.z,tmpP.y/tmpP.z);
  		}
  
  		return Math.sqrt(error/points.size());
  	}