main/src/georegression/transform/se/SePointOps_F64.java
public static Point3D_F64 transformReverse( Se3_F64 se, Point3D_F64 origPt, Point3D_F64 tranPt ) {
		if( tranPt == null )
			tranPt = new Point3D_F64();

		DMatrixRMaj R = se.getR();
		Vector3D_F64 T = se.getT();

		GeometryMath_F64.sub( origPt, T, tranPt );
		GeometryMath_F64.multTran( R, tranPt, tranPt );

		return tranPt;
	}
public static Point3D_F64 transformReverse( Se3_F64 se, Point3D_F64 origPt, Point3D_F64 tranPt ) {
		if( tranPt == null )
			tranPt = new Point3D_F64();

		DMatrixRMaj R = se.getR();
		Vector3D_F64 T = se.getT();

		GeometryMath_F64.sub( origPt, T, tranPt );
		GeometryMath_F64.multTran( R, tranPt, tranPt );

		return tranPt;
	}
<p>.
Applies the transform in the reverse direction<br>
<br>
p = R<sup>T</sup>*(p'-T)
</p>
<p>
Both origPt and tranPt can be the same instance.
</p>

@param se	 SpecialEuclidean transform.
@param origPt Original coordinate of the point.
@param tranPt Transformed coordinate of the point.