docs: public Se3_F64 estimateNoOutliers( List<Point2D3D> observations ) {
  
  		// Compute a single solution using EPNP
  		// 10 iterations is what JavaDoc recommends, but might need to be tuned.
  		// 0 test points.  This parameters is actually ignored because EPNP only returns a single solution
  		Estimate1ofPnP pnp = FactoryMultiView.pnp_1(EnumPNP.EPNP, 10, 0);
  
  		Se3_F64 worldToCamera = new Se3_F64();
  		pnp.process(observations,worldToCamera);
  
  		// For some applications the EPNP solution might be good enough, but let's refine it
  		RefinePnP refine = FactoryMultiView.pnpRefine(1e-8,200);
  
  		Se3_F64 refinedWorldToCamera = new Se3_F64();
  
  		if( !refine.fitModel(observations,worldToCamera,refinedWorldToCamera) )
  			throw new RuntimeException("Refined failed! Input probably bad...");
  
  		return refinedWorldToCamera;
  	}