code: public double depthNView( List<Point2D_F64> obs ,
  							  List<Se3_F64> motion )
  	{
  
  		double top = 0, bottom = 0;
  
  		Point2D_F64 a = obs.get(0);
  		for( int i = 1; i < obs.size(); i++ ) {
  			Se3_F64 se = motion.get(i-1);
  			Point2D_F64 b = obs.get(i);
  
  			GeometryMath_F64.multCrossA(b, se.getR(), temp0);
  			GeometryMath_F64.mult(temp0,a,temp1);
  
  			GeometryMath_F64.cross(b, se.getT(), temp2);
  
  			top += temp2.x+temp2.y+temp2.z;
  			bottom += temp1.x+temp1.y+temp1.z;
  		}
  
  		return -top/bottom;
  	}
docs: Computes the pixel depth from N views of the same object.  Pixel depth in the first frame.
  
  @param obs List of observations on a single feature in normalized coordinates
  @param motion List of camera motions.  Each index 'i' is the motion from view 0 to view i+1.
  @return depth of the pixels