code: public static Estimate1ofPnP computePnPwithEPnP(int numIterations, double magicNumber) {
  		PnPLepetitEPnP alg = new PnPLepetitEPnP(magicNumber);
  		alg.setNumIterations(numIterations);
  		return new WrapPnPLepetitEPnP(alg);
  	}
docs: Returns a solution to the PnP problem for 4 or more points using EPnP. Fast and fairly
  accurate algorithm.  Can handle general and planar scenario automatically.
  
  <p>NOTE: Observations are in normalized image coordinates NOT pixels.</p>
  
  @see PnPLepetitEPnP
  
  @param numIterations If more then zero then non-linear optimization is done.  More is not always better.  Try 10
  @param magicNumber Affects how the problem is linearized.  See comments in {@link PnPLepetitEPnP}.  Try 0.1
  @return  Estimate1ofPnP