code: public void computeStability(Se3_F64 targetToCamera ,
  								 double disturbance,
  								 FiducialStability results) {
  
  		targetToCamera.invert(referenceCameraToTarget);
  
  		maxOrientation = 0;
  		maxLocation = 0;
  
  		Point3D_F64 cameraPt = new Point3D_F64();
  		for (int i = 0; i < points2D3D.size(); i++) {
  			Point2D3D p23 = points2D3D.get(i);
  
  			targetToCamera.transform(p23.location,cameraPt);
  			p23.observation.x = cameraPt.x/cameraPt.z;
  			p23.observation.y = cameraPt.y/cameraPt.z;
  
  			refNorm.get(i).set(p23.observation);
  
  			normToPixel.compute(p23.observation.x,p23.observation.y,refPixels.get(i));
  		}
  
  		for (int i = 0; i < points2D3D.size(); i++) {
  			// see what happens if you tweak this observation a little bit
  			perturb( disturbance, refPixels.get(i), points2D3D.get(i));
  			// set it back to the nominal value
  			points2D3D.get(i).observation.set(refNorm.get(i));
  		}
  
  		results.location = maxLocation;
  		results.orientation = maxOrientation;
  	}
docs: Estimate how sensitive this observation is to pixel noise
  @param targetToCamera Observed target to camera pose estimate
  @param disturbance How much the observation should be noised up, in pixels
  @param results description how how sensitive the stability estimate is
  @return true if stability could be computed