main/src/georegression/struct/se/SpecialEuclideanOps_F64.java
public static Se3_F64 toSe3(DMatrixRMaj H, Se3_F64 ret ) {
		if( H.numCols != 4 || H.numRows != 4 )
			throw new IllegalArgumentException( "The homogeneous matrix must be 4 by 4 by definition." );

		if( ret == null )
			ret = new Se3_F64();

		ret.setTranslation( (double) H.get( 0, 3 ), (double) H.get( 1, 3 ), (double) H.get( 2, 3 ) );

		CommonOps_DDRM.extract( H, 0, 3, 0, 3, ret.getR(), 0, 0 );

		return ret;
	}
public static Se3_F64 toSe3(DMatrixRMaj H, Se3_F64 ret ) {
		if( H.numCols != 4 || H.numRows != 4 )
			throw new IllegalArgumentException( "The homogeneous matrix must be 4 by 4 by definition." );

		if( ret == null )
			ret = new Se3_F64();

		ret.setTranslation( (double) H.get( 0, 3 ), (double) H.get( 1, 3 ), (double) H.get( 2, 3 ) );

		CommonOps_DDRM.extract( H, 0, 3, 0, 3, ret.getR(), 0, 0 );

		return ret;
	}
Converts a homogeneous representation into {@link Se3_F64}.

@param H   Homogeneous 4 by 4 matrix.
@param ret If not null where the results are written to.
@return Se3_F64 transform.