docs: private void selectAxises(SimpleMatrix R1, SimpleMatrix R2, SimpleMatrix c1, SimpleMatrix c2) {
  		// --------- Compute the new x-axis
  		v1.set(c2.get(0) - c1.get(0), c2.get(1) - c1.get(1), c2.get(2) - c1.get(2));
  		v1.normalize();
  
  		// --------- Compute the new y-axis
  		//   cross product of old z axis and new x axis
  		// According to the paper [1] this choice is arbitrary, however it is not.  By selecting
  		// the original axis the similarity with the first view is maximized.  The other extreme
  		// would be to make it perpendicular, resulting in an unusable rectification.
  
  		// extract old z-axis from rotation matrix
  		Vector3D_F64 oldZ = new Vector3D_F64(
  				R1.get(2,0)+R2.get(2,0),
  				R1.get(2,1)+R2.get(2,1),
  				R1.get(2,2)+R2.get(2,2));
  		GeometryMath_F64.cross(oldZ, v1, v2);
  		v2.normalize();
  
  		// ---------- Compute the new z-axis
  		// simply the process product of the first two
  		GeometryMath_F64.cross(v1,v2,v3);
  		v3.normalize();
  	}