Question about point cloud transformation

[sunnyHelen]

Hi, I'm very new to deal with point cloud. So maybe my question is not quite related to your repository.
I want to ask if I have a point cloud(Nx3), a rotation matrix(3x3) and translation matrix(1x3). How could I get the point cloud after the transformation(rotation and translation→4X4)?
For rotation, I guess just multiply with the matrix? And how about translation?
Your help will be highly appreciated.

[ldepn]

the translation maybe is add operate

[saharshleo]

Make the point cloud as Nx4 by adding 1 as the last row and then multiply with 4x4 homogeneous matrix. You can search homogeneous coordinates for the reason.