code: public static void intrinsicFromAbsoluteQuadratic( DMatrixRMaj Q , DMatrixRMaj P , CameraPinhole intrinsic )
  	{
  		DMatrixRMaj tmp = new DMatrixRMaj(3,4);
  		DMatrixRMaj tmp2 = new DMatrixRMaj(3,3);
  		CommonOps_DDRM.mult(P,Q,tmp);
  		CommonOps_DDRM.multTransB(tmp,P,tmp2);
  
  		decomposeDiac(tmp2,intrinsic);
  	}
docs: Extracts the intrinsic camera matrix from a view given its camera matrix and the dual absolute quadratic.
  
  <p>w<sub>i</sub> = P<sub>i</sub>*Q*P<sub>i</sub><sup>T</sup>, where w<sub>i</sub> = K<sub>i</sub>*K'<sub>i</sub></p>
  
  @param Q (Input) Dual absolute qudratic
  @param P (Input) Camera matrix for a view
  @param intrinsic (Output) found intrinsic parameters