Transform Points

transform 3d points from one reference frame to another

This function will take two transformation matrices and transform from tr1 to tr2 converting all the points from frame 1-->2

Use: pointsOut = fcn_transformPoints(trOrigin[4x4],trDestination[4x4], pointsToBeMoved[mx3])
tr1 and tr2 are in the form of [1 0 0 0; [Posx Posy Posz], unitx' unity' unitz']

Note: This will only work on a 3 dimensional data set