docs: public double depth2View( Point2D_F64 a , Point2D_F64 b , Se3_F64 fromAtoB )
  	{
  		DMatrixRMaj R = fromAtoB.getR();
  		Vector3D_F64 T = fromAtoB.getT();
  
  		GeometryMath_F64.multCrossA(b, R, temp0);
  		GeometryMath_F64.mult(temp0,a,temp1);
  
  		GeometryMath_F64.cross(b, T, temp2);
  
  		return -(temp2.x+temp2.y+temp2.z)/(temp1.x+temp1.y+temp1.z);
  	}