code: public static void projectiveToMetric( DMatrixRMaj cameraMatrix , DMatrixRMaj H ,
  										   Se3_F64 worldToView , DMatrixRMaj K )
  	{
  		DMatrixRMaj tmp = new DMatrixRMaj(3,4);
  		CommonOps_DDRM.mult(cameraMatrix,H,tmp);
  
  		MultiViewOps.decomposeMetricCamera(tmp,K,worldToView);
  	}
docs: Elevates a projective camera matrix into a metric one using the rectifying homography.
  Extracts calibration and Se3 pose.
  
  <pre>
  P'=P*H
  K,R,t = decompose(P')
  </pre>
  where P is the camera matrix, H is the homography, (K,R,t) are the intrinsic calibration matrix, rotation,
  and translation
  
  @see MultiViewOps#absoluteQuadraticToH
  @see #decomposeMetricCamera(DMatrixRMaj, DMatrixRMaj, Se3_F64)
  
  @param cameraMatrix (Input) camera matrix. 3x4
  @param H (Input) Rectifying homography. 4x4
  @param worldToView (Output) Transform from world to camera view
  @param K (Output) Camera calibration matrix