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transform.m

+%Function to transform matrix B
+% - Params：
+%   - B:point cloud [n,3]
+%   - R:Rotation transformation [3,3]
+%   - T:Translation transformation [1,3]
+% - Return：
+%   - B:Transform point cloud [n,3]
+function [ B ] = transform( B,R,T )
+
+[num, dim] = size(B);
+%2-dim
+if dim == 2
+    B = [cos(-R), sin(-R); -sin(-R), cos(-R)]*B'-repmat(T',1,num);
+    B = B';
+end
+%3-dim
+if dim == 3
+    B = R*B' + repmat(T',1,num);
+    B = B';
+
+end