docs: public static DMatrixRMaj createProjectiveToMetric( DMatrixRMaj K ,
  														double v1 , double v2 , double v3 ,
  														double lambda,
  														@Nullable DMatrixRMaj H )
  	{
  		if( H == null )
  			H = new DMatrixRMaj(4,4);
  		else
  			H.reshape(4,4);
  
  		CommonOps_DDRM.insert(K,H,0,0);
  		H.set(0,3,0);
  		H.set(1,3,0);
  		H.set(2,3,0);
  		H.set(3,0,v1);
  		H.set(3,1,v2);
  		H.set(3,2,v3);
  		H.set(3,3,lambda);
  
  		return H;
  	}