docs: private void createSolution( DMatrixRMaj W , DMatrixRMaj U , Vector3D_F64 u ,
  								 DMatrixRMaj H ,
  								 Se3_F64 se , Vector3D_F64 N )
  	{
  		CommonOps_DDRM.multTransB(W,U,se.getR());
  		GeometryMath_F64.cross(v2,u,N);
  
  		CommonOps_DDRM.subtract(H, se.getR(), tempM);
  		GeometryMath_F64.mult(tempM,N,se.getT());
  	}