code: public Se3_F64 getWorldToCurr3D() {
  
  		// compute transform in 2D space
  		Se2_F64 currToWorld = getCurrToWorld2D();
  
  		// 2D to 3D coordinates
  		currPlaneToWorld3D.getT().set(-currToWorld.T.y, 0, currToWorld.T.x);
  		DMatrixRMaj R = currPlaneToWorld3D.getR();
  
  		// set rotation around Y axis.
  		// Transpose the 2D transform since the rotation are pointing in opposite directions
  		R.unsafe_set(0, 0, currToWorld.c);
  		R.unsafe_set(0, 2, -currToWorld.s);
  		R.unsafe_set(1, 1, 1);
  		R.unsafe_set(2, 0, currToWorld.s);
  		R.unsafe_set(2, 2, currToWorld.c);
  
  		currPlaneToWorld3D.invert(worldToCurrPlane3D);
  
  		worldToCurrPlane3D.concat(planeToCamera, worldToCurrCam3D);
  
  		return worldToCurrCam3D;
  	}
docs: Converts 2D motion estimate into a 3D motion estimate
  
  @return from world to current frame.