docs: public void triangulate( Point2D_F64 a , Point2D_F64 b ,
  							 Se3_F64 a_to_b ,
  							 Point3D_F64 foundInA )
  	{
  		// b_to_a = R'*(X_b-T)=X_a
  		// rayB should start at origin of B so X_b = 0
  		// Thus, rayB.p = -R'*T
  
  		// set camera B's principle point
  		Vector3D_F64 t = a_to_b.getT();
  		rayB.p.set(-t.x, -t.y, -t.z);
  
  		// rotate observation in B into camera A's view
  		GeometryMath_F64.multTran(a_to_b.getR(),rayB.p,rayB.p);
  		GeometryMath_F64.multTran(a_to_b.getR(),b,rayB.slope);
  
  		rayA.slope.set(a.x,a.y,1);
  
  		ClosestPoint3D_F64.closestPoint(rayA,rayB,foundInA);
  	}