#NEWLINE# def homogeneous_times_vector( homogeneous , vector ) : #NEWLINE# #INDENT# vector_as_hom = transformations . identity_matrix ( ) #NEWLINE# vector_as_hom [ : 3 , 3 ] = res . T #NEWLINE# res = numpy . dot ( homogeneous , vector_as_hom ) #NEWLINE# return res [ : 3 , 3 ] . T