docs: private SimpleMatrix computeHZero( DMatrixRMaj F , Point3D_F64 e2 ,
  									   SimpleMatrix H ) {
  
  		Vector3D_F64 v = new Vector3D_F64(.1,0.5,.2);
  
  		// need to make sure M is not singular for this technique to work
  		SimpleMatrix P = SimpleMatrix.wrap(MultiViewOps.fundamentalToProjective(F, e2, v, 1));
  
  		SimpleMatrix M = P.extractMatrix(0, 3, 0, 3);
  
  		return H.mult(M);
  	}