def transform_hmats(self, hmat_mAD):
        hmat_mGD = np.empty_like(hmat_mAD)
        hmat_mGD[:,:3,3] = self.transform_points(hmat_mAD[:,:3,3])
        hmat_mGD[:,:3,:3] = self.transform_bases(hmat_mAD[:,:3,3], hmat_mAD[:,:3,:3])
        hmat_mGD[:,3,:] = np.array([0,0,0,1])
        return hmat_mGD
Transform (D+1) x (D+1) homogenius matrices
dataset/ETHPy150Open rll/lfd/lfd/rapprentice/registration.py/Transformation.transform_hmats