void convertW( Homography2D_F64 w , CameraPinhole c ) {
		// inv(w) = K*K'
		tmp.set(w);
		CommonOps_DDF3.divide(tmp,tmp.a33);
		CommonOps_DDF3.cholU(tmp);
		CommonOps_DDF3.invert(tmp,K);
		CommonOps_DDF3.divide(K,K.a33);

		c.fx = K.a11;
		c.fy = knownAspectRatio ? (K.a22 + c.fx*aspectRatio)/2.0 : K.a22;
		c.skew = zeroSkew ? 0 : K.a12;
		c.cx = principlePointOrigin ? 0 : K.a13;
		c.cy = principlePointOrigin ? 0 : K.a23;
	}
void convertW ( Homography2D_F64 w , CameraPinhole c ) { tmp . set ( w ) ; CommonOps_DDF3 . divide ( tmp , tmp . a33 ) ; CommonOps_DDF3 . cholU ( tmp ) ; CommonOps_DDF3 . invert ( tmp , K ) ; CommonOps_DDF3 . divide ( K , K . a33 ) ; c . fx = K . a11 ; c . fy = knownAspectRatio ? ( K . a22 + c . fx * aspectRatio ) / 2.0 : K . a22 ; c . skew = zeroSkew ? 0 : K . a12 ; c . cx = principlePointOrigin ? 0 : K . a13 ; c . cy = principlePointOrigin ? 0 : K . a23 ; }
Converts W into a pinhole camera model by finding the cholesky decomposition