code: void extractCalibration( Homography2D_F64 Hinv , CameraPinhole c ) {
  		CommonOps_DDF3.multTransA(Hinv,W0,tmp);
  		CommonOps_DDF3.mult(tmp,Hinv,Wi);
  
  		convertW(Wi,c);
  	}
docs: Extracts calibration for the non-reference frames
  
  w = H^-T*w*H^-1