docs: private double score(double betas[]) {
  		UtilLepetitEPnP.computeCameraControl(betas,nullPts, solutionPts,numControl);
  
  		int index = 0;
  		double score = 0;
  		for( int i = 0; i < numControl; i++ ) {
  			Point3D_F64 si = solutionPts.get(i);
  			Point3D_F64 wi = controlWorldPts.get(i);
  
  			for( int j = i+1; j < numControl; j++ , index++) {
  				double ds = si.distance(solutionPts.get(j));
  				double dw = wi.distance(controlWorldPts.get(j));
  
  				score += (ds-dw)*(ds-dw);
  			}
  		}
  		return score;
  	}