code: public static ModelMatcherMultiview<Se3_F64, Point2D3D> pnpLMedS(@Nullable ConfigPnP configPnP,
  																	 @Nonnull ConfigLMedS configLMedS)
  	{
  		if( configPnP == null )
  			configPnP = new ConfigPnP();
  		configPnP.checkValidity();
  		configLMedS.checkValidity();
  
  		Estimate1ofPnP estimatorPnP = FactoryMultiView.pnp_1( configPnP.which , configPnP.epnpIterations, configPnP.numResolve);
  
  		DistanceFromModelMultiView<Se3_F64,Point2D3D> distance = new PnPDistanceReprojectionSq();
  		ModelManagerSe3_F64 manager = new ModelManagerSe3_F64();
  		EstimatorToGenerator<Se3_F64,Point2D3D> generator = new EstimatorToGenerator<>(estimatorPnP);
  
  		LeastMedianOfSquaresMultiView<Se3_F64, Point2D3D> lmeds =
  				new LeastMedianOfSquaresMultiView<>(configLMedS.randSeed, configLMedS.totalCycles, manager, generator, distance);
  		lmeds.setErrorFraction(configLMedS.errorFraction);
  		return lmeds;
  	}
docs: Robust solution to PnP problem using {@link LeastMedianOfSquares LMedS}.  Input observations are
  in normalized image coordinates.
  
  <ul>
  <li>Input observations are in normalized image coordinates NOT pixels</li>
  <li>Error units are pixels squared.</li>
  </ul>
  
  <p>See code for all the details.</p>
  
  @param configPnP PnP parameters.  Can't be null.
  @param configLMedS Parameters for LMedS.  Can't be null.
  @return Robust Se3_F64 estimator