def METHOD_NAME(param):
    Ps = param[:12].reshape(3, -1)
    s, R, t3d = P2sRt(Ps)
    Ps[:, :3] = np.identity(3) * s
    # t3d = t3d.reshape(3, -1)
    # p = p_[:, :3]
    # offset = p_[:, -1].reshape(3, 1)
    # print(R)
    # angles = matrix2angle(R) # yaw, pitch, roll
    # angles = [x, y, z]
    # if 'yaw' in change_axis:
    #     angles[0] = 0
    # if 'pitch' in change_axis:
    #     angles[1] = 0
    # if 'roll' in change_axis:
    #     angles[2] = 0
    # p = angle2matrix(angles)
    # print(p)
    # new_p_ = np.concatenate((p, t3d), axis=1).reshape(-1)
    param[:12] = Ps.reshape(-1)
    return param