code: void extractReferenceW(DMatrixRMaj nv ) {
  		W0.a11 = nv.data[0];
  		W0.a12 = W0.a21 = nv.data[1];
  		W0.a13 = W0.a31 = nv.data[2];
  		W0.a22 = nv.data[3];
  		W0.a23 = W0.a32 = nv.data[4];
  		W0.a33 = nv.data[5];
  	}
docs: Extracts calibration for the reference frame