docs: protected void removeNormalization( TrifocalTensor solution ) {
  		DMatrixRMaj N2_inv = N2.matrixInv();
  		DMatrixRMaj N3_inv = N3.matrixInv();
  
  		DMatrixRMaj N1 = this.N1.matrix();
  
  		for( int i = 0; i < 3; i++ ) {
  			DMatrixRMaj T = solution.getT(i);
  			for( int j = 0; j < 3; j++ ) {
  				for( int k = 0; k < 3; k++ ) {
  
  					double sum = 0;
  
  					for( int r = 0; r < 3; r++ ) {
  						double n1 = N1.get(r,i);
  						DMatrixRMaj TN = solutionN.getT(r);
  	                    for( int s = 0; s < 3; s++ ) {
  							double n2 = N2_inv.get(j,s);
  							for( int t = 0; t < 3; t++ ) {
  								sum += n1*n2*N3_inv.get(k,t)*TN.get(s,t);
  							}
  						}
  					}
  
  					T.set(j,k,sum);
  				}
  			}
  		}
  	}