docs: public void assignValuesToA( DMatrixRMaj A ) {
  		for (int viewIdx = 0; viewIdx < depths.numRows; viewIdx++) {
  			int rowA = viewIdx*3;
  			int rowPixels = viewIdx*2;
  
  			for (int pointIdx = 0; pointIdx < depths.numCols; pointIdx++) {
  				double depth = depths.get(viewIdx,pointIdx);
  
  				// pixels are in homogenous coordinates A(:,i) = depth*(x,y,1)
  				A.set(rowA,pointIdx, depth*pixels.get(rowPixels,pointIdx)/pixelScale);
  				A.set(rowA+1,pointIdx, depth*pixels.get(rowPixels+1,pointIdx)/pixelScale);
  				A.set(rowA+2,pointIdx, depth);
  			}
  		}
  	}