code: private void setPair(int which, int row, int col, int N , Point2D_F64 pixel ) {
  		set3D(row,col,N,point23.get(which).location);
  		pixelToNorm.compute(pixel.x,pixel.y,point23.get(which).observation);
  	}
docs: Specifies PNP parameters for a single feature
  
  @param which Landmark's index
  @param row row in the QR code's grid coordinate system
  @param col column in the QR code's grid coordinate system
  @param N width of grid
  @param pixel observed pixel coordinate of feature