code: public GeometricResult triangulate( Point2D_F64 a , Point2D_F64 b ,
  										Se3_F64 fromAtoB ,
  										Point4D_F64 foundInA ) {
  		A.reshape(4, 4);
  
  		int index = addView(fromAtoB,b,0);
  
  		// third row
  		A.data[index++] = -1;
  		A.data[index++] = 0;
  		A.data[index++] = a.x;
  		A.data[index++] = 0;
  		
  		// fourth row
  		A.data[index++] = 0;
  		A.data[index++] = -1;
  		A.data[index++] = a.y;
  		A.data[index  ] = 0;
  
  		return finishSolving(foundInA);
  	}
docs: <p>
  Given two observations of the same point from two views and a known motion between the
  two views, triangulate the point's position in camera 'b' reference frame.
  </p>
  <p>
  Modification of [1] to be less generic and use calibrated cameras.
  </p>
  
  @param a Observation 'a' in normalized coordinates. Not modified.
  @param b Observation 'b' in normalized coordinates. Not modified.
  @param fromAtoB Transformation from camera view 'a' to 'b'  Not modified.
  @param foundInA Output, the found 3D position of the point.  Modified.