def METHOD_NAME(pairs_and_their_E) -> None:
    for f1, f2, _, pose in pairs_and_their_E:
        Rt = pose.get_cam_to_world()[:3]
        count_outliers = np.random.randint(0, len(f1) / 10)
        f1[:count_outliers, :] += np.random.uniform(0, 1e-1, size=(count_outliers, 3))
        inliers = matching.compute_inliers_bearings(f1, f2, Rt[:, :3], Rt[:, 3])
        assert sum(inliers) >= len(f1) - count_outliers