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