code: private void changePoseToReference() {
  		Se3_F64 keyToCurr = currToKey.invert(null);
  
  		List<PointTrack> all = trackerLeft.getAllTracks(null);
  
  		for( PointTrack t : all ) {
  			LeftTrackInfo p = t.getCookie();
  			SePointOps_F64.transform(keyToCurr, p.location.location, p.location.location);
  		}
  
  		concatMotion();
  	}
docs: Updates the relative position of all points so that the current frame is the reference frame.  Mathematically
  this is not needed, but should help keep numbers from getting too large.