code: public static void insertColumn(DMatrixRMaj P, int col, GeoTuple3D_F64 a) {
  		P.unsafe_set(0,col,a.x);
  		P.unsafe_set(1,col,a.y);
  		P.unsafe_set(2,col,a.z);
  	}
docs: Inserts 3-tuple into the camera matrix's columns