docs: private Intrinsic solveForCalibration(DMatrixRMaj w) {
  		Intrinsic calib = new Intrinsic();
  
  //		CholeskyDecomposition_F64<DMatrixRMaj> chol = DecompositionFactory_DDRM.chol(false);
  //
  //		chol.decompose(w.copy());
  //		DMatrixRMaj R = chol.getT(w);
  //		R.print();
  
  		if( zeroSkew ) {
  			calib.skew = 0;
  			calib.fy = Math.sqrt(w.get(1,1));
  
  			if( knownAspect ) {
  				calib.fx = calib.fy/aspectRatio;
  			} else {
  				calib.fx = Math.sqrt(w.get(0,0));
  			}
  		} else if( knownAspect ) {
  			calib.fy = Math.sqrt(w.get(1,1));
  			calib.fx = calib.fy/aspectRatio;
  			calib.skew = w.get(0,1)/calib.fy;
  		} else {
  			calib.fy = Math.sqrt(w.get(1,1));
  			calib.skew = w.get(0,1)/calib.fy;
  			calib.fx = Math.sqrt(w.get(0,0) - calib.skew*calib.skew);
  		}
  		return calib;
  	}