docs: private boolean robustFitTrifocal(List<AssociatedTriple> associated) {
  		// Fit a trifocal tensor to the observations robustly
  		ransac.process(associated);
  
  		inliers = ransac.getMatchSet();
  		TrifocalTensor model = ransac.getModelParameters();
  		if( verbose != null )
  			verbose.println("Remaining after RANSAC "+inliers.size()+" / "+associated.size());
  
  		// estimate using all the inliers
  		// No need to re-scale the input because the estimator automatically adjusts the input on its own
  		if( !trifocalEstimator.process(inliers,model) ) {
  			if( verbose != null ) {
  				verbose.println("Trifocal estimator failed");
  			}
  			return false;
  		}
  		return true;
  	}