Convert rotation matrix to a homogeneous transform
T = r2t(R) is a homogeneous transform equivalent to an orthonormal rotation matrix R with a zero translational component.
Works for T in either SE(2) or SE(3)
if R is 2x2 then T is 3x3, or
if R is 3x3 then T is 4x4.
Translational component is zero.
For a rotation matrix sequence returns a homogeneous transform sequence.