code: private void pruneOutliers(BundleAdjustment<SceneStructureMetric> bundleAdjustment) {
  		// see if it's configured to not prune
  		if( pruneFraction == 1.0 )
  			return;
  		PruneStructureFromSceneMetric pruner = new PruneStructureFromSceneMetric(structure,observations);
  		pruner.pruneObservationsByErrorRank(pruneFraction);
  		pruner.pruneViews(10);
  		pruner.prunePoints(1);
  		bundleAdjustment.setParameters(structure,observations);
  		bundleAdjustment.optimize(structure);
  
  		if( verbose != null ) {
  			verbose.println("\nCamera");
  			for (int i = 0; i < structure.cameras.length; i++) {
  				verbose.println(structure.cameras[i].getModel().toString());
  			}
  			verbose.println("\n\nworldToView");
  			for (int i = 0; i < structure.views.length; i++) {
  				verbose.println(structure.views[i].worldToView.toString());
  			}
  			verbose.println("Fit Score: " + bundleAdjustment.getFitScore());
  		}
  	}
docs: Prunes the features with the largest reprojection error