code: public void setRigid( int which , boolean fixed , Se3_F64 worldToObject , int totalPoints ) {
  		Rigid r = rigids[which] = new Rigid();
  		r.known = fixed;
  		r.objectToWorld.set(worldToObject);
  		r.points = new Point[totalPoints];
  		for (int i = 0; i < totalPoints; i++) {
  			r.points[i] = new Point(pointSize);
  		}
  	}
docs: Declares the data structure for a rigid object. Location of points are set by accessing the object directly.
  Rigid objects are useful in known scenes with calibration targets.
  
  @param which Index of rigid object
  @param fixed If the pose is known or not
  @param worldToObject Initial estimated location of rigid object
  @param totalPoints Total number of points attached to this rigid object