I have a 4×4 transoformation matrix T0 as a starting pose. Now I want to rotate T0 with an 3×3 rotation matrix R around a center point to get a new pose T1. How to calculate T1? Answer The solution is described here. And the working code is below:
I have a 4×4 transoformation matrix T0 as a starting pose. Now I want to rotate T0 with an 3×3 rotation matrix R around a center point to get a new pose T1. How to calculate T1? Answer The solution is described here. And the working code is below: