docs: void recomputeQ( DMatrixRMaj p , DMatrix4x4 Q ) {
  		Equation eq = new Equation();
  		DMatrix3x3 K = new DMatrix3x3();
  		encodeK(K,0,3,param.data);
  		eq.alias(p,"p",K,"K");
  		eq.process("w=K*K'");
  		eq.process("Q=[w , -w*p;-p'*w , p'*w*p]");
  		DMatrixRMaj _Q = eq.lookupDDRM("Q");
  		CommonOps_DDRM.divide(_Q, NormOps_DDRM.normF(_Q));
  		ConvertDMatrixStruct.convert(_Q,Q);
  	}