docs: public static void decomposeDiac( double w11 , double w12 , double w13 , double w22 , double w23 , double w33,
  									  CameraPinhole intrinsic )
  	{
  		// divide by w33 to ensure that it is equal to one
  		double cx = w13/w33;
  		double cy = w23/w33;
  		double fy = Math.sqrt(Math.abs(w22/w33-cy*cy));
  		double skew = (w12/w33 - cx*cy)/fy;
  		double fx = Math.sqrt(Math.abs(w11/w33-skew*skew - cx*cx));
  
  		intrinsic.cx = cx;
  		intrinsic.cy = cy;
  		intrinsic.fx = fx;
  		intrinsic.fy = fy;
  		intrinsic.skew = skew;
  	}