code: def from_matrix_vector(matrix, vector):
      """Combine a matrix and vector into a homogeneous transform.
  
      Combine a rotation matrix and translation vector into a transform
      in homogeneous coordinates.
  
      Parameters
      ----------
      matrix : ndarray
          An NxN array representing the rotation matrix.
      vector : ndarray
          A 1xN array representing the translation.
  
      Returns
      -------
      xform : ndarray
          An N+1xN+1 transform matrix.
  
      See Also
      --------
      to_matrix_vector
  
      """
  
      nin, nout = matrix.shape
      t = np.zeros((nin + 1, nout + 1), matrix.dtype)
      t[0:nin, 0:nout] = matrix
      t[nin, nout] = 1.0
      t[0:nin, nout] = vector
      return t
  
imports: import numpy
label_desc: Use image node_id 3 for calling a global function with example usage: from_matrix_vector(matrix, vector) and returns: t