main/src/georegression/geometry/UtilVector3D_F64.java
public static DMatrixRMaj createMatrix( DMatrixRMaj R, Vector3D_F64... v ) {
		if( R == null ) {
			R = new DMatrixRMaj( 3, v.length );
		}

		for( int i = 0; i < v.length; i++ ) {
			R.set( 0, i, v[i].x );
			R.set( 1, i, v[i].y );
			R.set( 2, i, v[i].z );
		}

		return R;
	}
public static DMatrixRMaj createMatrix( DMatrixRMaj R, Vector3D_F64... v ) {
		if( R == null ) {
			R = new DMatrixRMaj( 3, v.length );
		}

		for( int i = 0; i < v.length; i++ ) {
			R.set( 0, i, v[i].x );
			R.set( 1, i, v[i].y );
			R.set( 2, i, v[i].z );
		}

		return R;
	}
Creates a matrix from the set of column vectors.  Each vector is a column in the new matrix.

@param v Set of vectors. Not modified.
@param R If not null the vectors are stored here.
@return Matrix.