def matrix(self):
        """Returns a 4x4 homogeneous matrix of the form [R t; 0 1]

        Returns
        ----------
        result: np.ndarray
            4x4 homogeneous matrix
        """
        result = self.quat.transformation_matrix
        result[:3, 3] = self.tvec
        return result
Returns a 4x4 homogeneous matrix of the form [R t; 0 1]

        Returns
        ----------
        result: np.ndarray
            4x4 homogeneous matrix
        
tridet/structures/pose.py