code: public static void undoNormalizationH(DMatrixRMaj M, NormalizationPoint2D N1, NormalizationPoint2D N2) {
  		SimpleMatrix a = SimpleMatrix.wrap(M);
  		SimpleMatrix b = SimpleMatrix.wrap(N1.matrix());
  		SimpleMatrix c_inv = SimpleMatrix.wrap(N2.matrixInv());
  
  		SimpleMatrix result = c_inv.mult(a).mult(b);
  
  		M.set(result.getDDRM());
  	}
docs: Undoes normalization for a homography matrix.