Rigid body motion or 3D Transformation

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I have a set of 3D points in camera space and I wish to transform them to world space. I have R and t for my camera. I can make my own transformation matrix [R|t] and gemm this with a matrix of my 3D points converted to homgeneous, but it seems to me that perhaps this process is already contained in an OpenCV function as it is a common procedure. Is there such a function?

Forgive me if this has been answered elsewhere, I have not found it.