def transform_from_rot_trans ( R , t ) : R = R . reshape ( 3 , 3 ) t = t . reshape ( 3 , 1 ) return np . vstack ( ( np . hstack ( [ R , t ] ) , [ 0 , 0 , 0 , 1 ] ) )
3d rotatioin matrix in python
Transforation matrix from rotation matrix and translation vector .
def transform_from_rot_trans(R, t):
    """Transforation matrix from rotation matrix and translation vector."""
    R = R.reshape(3, 3)
    t = t.reshape(3, 1)
    return np.vstack((np.hstack([R, t]), [0, 0, 0, 1]))