均值mean矩阵(3*1),协方差矩阵cov(3*3), 变换矩阵r(3*3), t(3*1),所以有
new_mean = r_new_old * old_mean + t_new_old;
new_cov = r_new_old * old_cov * r_new_old.transpose();
均值mean矩阵(3*1),协方差矩阵cov(3*3), 变换矩阵r(3*3), t(3*1),所以有
new_mean = r_new_old * old_mean + t_new_old;
new_cov = r_new_old * old_cov * r_new_old.transpose();