function newpoints = ApplyTransformation(points,T)

rot = T(1:3,1:3);
tran = T(1:3,4);

newpoints = zeros(size(points));

for i = 1:size(points,1)
    p = points(i,:);
    p = p';
    p = rot * p + tran;
    newpoints(i,:) = p';
end