code: public static DMatrixRMaj createHomography(DMatrixRMaj R, Vector3D_F64 T,
  												  double d, Vector3D_F64 N)
  	{
  		DMatrixRMaj H = new DMatrixRMaj(3,3);
  
  		GeometryMath_F64.outerProd(T,N,H);
  		CommonOps_DDRM.divide(H,d);
  		CommonOps_DDRM.addEquals(H, R);
  
  		return H;
  	}
docs: <p>
  Computes a homography matrix from a rotation, translation, plane normal and plane distance:<br>
  x[2] = H*x[1]<br>
  where x[1] is the point on the first camera and x[2] the location in the second camera.<br>
  H = R+(1/d)*T*N<sup>T</sup><br>
  Where [R,T] is the transform from camera 1 to camera 2.
  </p>
  
  @param R Rotation matrix from camera 1 to camera 2.
  @param T Translation vector from camera 1 to camera 2.
  @param d Distance &gt; 0 of closest point on plane to the origin of camera 1.
  @param N Normal of plane with respect to the first camera.
  @return Calibrated homography matrix