docs: private static void adjustCalibrated(DMatrixRMaj rectifyLeft, DMatrixRMaj rectifyRight,
  										 DMatrixRMaj rectifyK,
  										 RectangleLength2D_F64 bound, double scale) {
  		// translation
  		double deltaX = -bound.x0*scale;
  		double deltaY = -bound.y0*scale;
  
  		// adjustment matrix
  		SimpleMatrix A = new SimpleMatrix(3,3,true,new double[]{scale,0,deltaX,0,scale,deltaY,0,0,1});
  		SimpleMatrix rL = SimpleMatrix.wrap(rectifyLeft);
  		SimpleMatrix rR = SimpleMatrix.wrap(rectifyRight);
  		SimpleMatrix K = SimpleMatrix.wrap(rectifyK);
  
  		// remove previous calibration matrix
  		SimpleMatrix K_inv = K.invert();
  		rL = K_inv.mult(rL);
  		rR = K_inv.mult(rR);
  
  		// compute new calibration matrix and apply it
  		K = A.mult(K);
  
  		rectifyK.set(K.getDDRM());
  		rectifyLeft.set(K.mult(rL).getDDRM());
  		rectifyRight.set(K.mult(rR).getDDRM());
  	}