code: public static ModelMatcherMultiview<Se3_F64, AssociatedPair> baselineLMedS( @Nullable ConfigEssential essential,
  																				@Nonnull ConfigLMedS lmeds )
  	{
  		if( essential == null )
  			essential = new ConfigEssential();
  		else
  			essential.checkValidity();
  
  		Estimate1ofEpipolar epipolar = FactoryMultiView.
  				essential_1(essential.which, essential.numResolve);
  
  		Triangulate2ViewsMetric triangulate = FactoryMultiView.triangulate2ViewMetric(
  				new ConfigTriangulation(ConfigTriangulation.Type.GEOMETRIC));
  		ModelManager<Se3_F64> manager = new ModelManagerSe3_F64();
  		ModelGenerator<Se3_F64, AssociatedPair> generateEpipolarMotion =
  				new Se3FromEssentialGenerator(epipolar, triangulate);
  
  		DistanceFromModelMultiView<Se3_F64, AssociatedPair> distanceSe3 = new DistanceSe3SymmetricSq(triangulate);
  
  		LeastMedianOfSquaresMultiView<Se3_F64, AssociatedPair> config = new LeastMedianOfSquaresMultiView<>
  				(lmeds.randSeed, lmeds.totalCycles, manager, generateEpipolarMotion, distanceSe3);
  		config.setErrorFraction(lmeds.errorFraction);
  		return config;
  	}
docs: Robust solution for estimating {@link Se3_F64} using epipolar geometry from two views with
  {@link LeastMedianOfSquares LMedS}.  Input observations are in normalized image coordinates.
  
  <ul>
  <li>Error units is pixels squared times two</li>
  </ul>
  
  <p>See code for all the details.</p>
  
  @param essential Essential matrix estimation parameters.  Can't be null.
  @param lmeds Parameters for RANSAC.  Can't be null.
  @return Robust Se3_F64 estimator