parameters: (pts, R, t)
return_statement: return pts_t.T
docstring: Applies a rigid transformation to 3D points.
      :param pts: nx3 ndarray with 3D points.
      :param R: 3x3 rotation matrix.
      :param t: 3x1 translation vector.
      :return: nx3 ndarray with transformed 3D points.
docstring_summary: Applies a rigid transformation to 3D points.
      :param pts: nx3 ndarray with 3D points.
      :param R: 3x3 rotation matrix.
      :param t: 3x1 translation vector.
      :return: nx3 ndarray with transformed 3D points.
docstring_tokens: Applies a rigid transformation to 3D points . : param pts : nx3 ndarray with 3D points . : param R : 3x3 rotation matrix . : param t : 3x1 translation vector . : return : nx3 ndarray with transformed 3D points .
function: def transform_pts_Rt(pts, R, t):
      """
      Applies a rigid transformation to 3D points.
      :param pts: nx3 ndarray with 3D points.
      :param R: 3x3 rotation matrix.
      :param t: 3x1 translation vector.
      :return: nx3 ndarray with transformed 3D points.
      """
      assert(pts.shape[1] == 3)
      pts_t = R.dot(pts.T) + t.reshape((3, 1))
      return pts_t.T
function_tokens: def transform_pts_Rt ( pts , R , t ) : assert ( pts . shape [ 1 ] == 3 ) pts_t = R . dot ( pts . T ) + t . reshape ( ( 3 , 1 ) ) return pts_t . T