def _correct_trans(t):
 t = np.array(t, np.float64)
 t[:3, :3] *= t[3, :3][:, np.newaxis]
 t[3, :3] = 0.0
 assert (t[(3, 3)] == 1.0)
 return t

def _correct_trans ( t ) : t = np . array ( t , np . float64 ) t [ : 3 , : 3 ] *= t [ 3 , : 3 ] [ : , np . newaxis ] t [ 3 , : 3 ] = 0.0 assert ( t [ ( 3 , 3 ) ] == 1.0 ) return t
convert to a transformation matrix .