docs: private double score( Se3_F64 se ) {
  //		Rodrigues_F64 rod = new Rodrigues_F64();
  //		ConvertRotation3D_F64.matrixToRodrigues(se.R,rod);
  
  		double x = Math.abs(se.T.x);
  		double y = Math.abs(se.T.y);
  		double z = Math.abs(se.T.z)+1e-8;
  
  		double r = Math.max(x/(y+z),y/(x+z));
  
  //		System.out.println(se.T+"  angle="+rod.theta);
  
  //		return (Math.abs(rod.theta)+1e-3)/r;
  		return 1.0/r; // ignoring rotation seems to work better <shrug>
  	}