Convert rotation and translation to homogeneous transform
TR = rt2tr(R, t)
TR = RT2TR(R, t) is a homogeneous transformation matrix (MxM) formed from an orthonormal rotation matrix R (NxN) and a translation vector t (Nx1) where M=N+1.
For a sequence R (NxNxK) and t (kxN) results in a transform sequence (NxNxk).
Works for R in SO(2) or SO(3)
If R is 2x2 and t is 2x1, then TR is 3x3
If R is 3x3 and t is 3x1, then TR is 4x4
The validity of R is not checked