main/src/georegression/struct/se/SpecialEuclideanOps_F64.java
public static DMatrixRMaj toHomogeneous( Se3_F64 se, DMatrixRMaj ret ) {
		if( ret == null )
			ret = new DMatrixRMaj( 4, 4 );
		else {
			ret.set( 3, 0, 0 );
			ret.set( 3, 1, 0 );
			ret.set( 3, 2, 0 );
		}

		CommonOps_DDRM.insert( se.getR(), ret, 0, 0 );
		Vector3D_F64 T = se.getT();

		ret.set( 0, 3, T.x );
		ret.set( 1, 3, T.y );
		ret.set( 2, 3, T.z );
		ret.set( 3, 3, 1 );

		return ret;
	}
public static DMatrixRMaj toHomogeneous( Se3_F64 se, DMatrixRMaj ret ) {
		if( ret == null )
			ret = new DMatrixRMaj( 4, 4 );
		else {
			ret.set( 3, 0, 0 );
			ret.set( 3, 1, 0 );
			ret.set( 3, 2, 0 );
		}

		CommonOps_DDRM.insert( se.getR(), ret, 0, 0 );
		Vector3D_F64 T = se.getT();

		ret.set( 0, 3, T.x );
		ret.set( 1, 3, T.y );
		ret.set( 2, 3, T.z );
		ret.set( 3, 3, 1 );

		return ret;
	}
Converts it into a 4 by 4 homogeneous matrix.

@param se  original 3D transform
@param ret Where the results will be written to.  If null a new matrix is declared. Modified.
@return equivalent homogeneous transform.