docs: public void extractCamera( DMatrixRMaj P2 , DMatrixRMaj P3 ) {
  		// temp1 = [e3*e3^T -I]
  		for( int i = 0; i < 3; i++ ) {
  			for( int j = 0; j < 3; j++ ) {
  				temp1.set(i,j,e3.getIdx(i)*e3.getIdx(j));
  			}
  			temp1.set(i,i , temp1.get(i,i) - 1);
  		}
  
  		// compute the camera matrices one column at a time
  		for( int i = 0; i < 3; i++ ) {
  			DMatrixRMaj T = tensor.getT(i);
  
  			GeometryMath_F64.mult(T, e3, column);
  			P2.set(0, i, column.x);
  			P2.set(1, i, column.y);
  			P2.set(2, i, column.z);
  			P2.set(i, 3, e2.getIdx(i));
  
  			GeometryMath_F64.multTran(T, e2, temp0);
  			GeometryMath_F64.mult(temp1, temp0, column);
  
  			P3.set(0, i, column.x);
  			P3.set(1, i, column.y);
  			P3.set(2, i, column.z);
  			P3.set(i, 3, e3.getIdx(i));
  		}
  	}