Po=movepoints(M,P)

function Po=movepoints(M,P)
% This function MOVEPOINTS will transform a N x 3 array of 3D points
% with a 4x4  affine transformation matrix.
%
% PO=MOVEPOINTS(M,P)
%
% inputs,
%    P : M x 3 array with XYZ points
%    M : Affine transformation matrix 4 x 4
%
% outputs,
%    PO : the transformed points
%
% example,
%   % Make some random 3D points
%   P=rand(10,3);
%   % Make a random transformation matrix
%   M = rand(4,4);
%   % Transform the points
%   Po=movepoints(M,P);
%
% Function is written by D.Kroon University of Twente (May 2009)

Po=zeros(size(P));
Po(:,1)=P(:,1)*M(1,1)+P(:,2)*M(1,2)+P(:,3)*M(1,3)+M(1,4);
Po(:,2)=P(:,1)*M(2,1)+P(:,2)*M(2,2)+P(:,3)*M(2,3)+M(2,4);
Po(:,3)=P(:,1)*M(3,1)+P(:,2)*M(3,2)+P(:,3)*M(3,3)+M(3,4);