docs: public void computeHomo3D(double x, double y, Point3D_F64 pointLeft) {
  		// Coordinate in rectified camera frame
  		pointRect.z = baseline*fx;
  		pointRect.x = pointRect.z*(x - cx)/fx;
  		pointRect.y = pointRect.z*(y - cy)/fy;
  
  		// rotate into the original left camera frame
  		GeometryMath_F64.multTran(rectR,pointRect,pointLeft);
  	}