code: public static void projectiveToIdentityH(DMatrixRMaj P , DMatrixRMaj H ) {
  		ProjectiveToIdentity alg = new ProjectiveToIdentity();
  		if( !alg.process(P))
  			throw new RuntimeException("WTF this failed?? Probably NaN in P");
  		alg.computeH(H);
  	}
docs: Finds the transform such that P*H = [I|0] where P is a 3x4 projective camera matrix and H is a 4x4 matrix
  @param P (Input) camera matrix 3x4
  @param H (Output) 4x4 matrix