docs: public Se3_F64 getWorldToCurr3D() {
  		// 2D to 3D coordinates
  		worldToCurr3D.getT().set(-worldToCurr2D.T.y,0,worldToCurr2D.T.x);
  		DMatrixRMaj R = worldToCurr3D.getR();
  
  		// set rotation around Y axis.
  		// Transpose the 2D transform since the rotation are pointing in opposite directions
  		R.unsafe_set(0, 0, worldToCurr2D.c);
  		R.unsafe_set(0, 2, -worldToCurr2D.s);
  		R.unsafe_set(1, 1, 1);
  		R.unsafe_set(2, 0, worldToCurr2D.s);
  		R.unsafe_set(2, 2, worldToCurr2D.c);
  
  		worldToCurr3D.concat(planeToCamera,worldToCurrCam3D);
  
  		return worldToCurrCam3D;
  	}