aa = np.matrix([[1,2,3],[1,2,3],[1,2,3]])
bb = np.matrix([[1,1,1],[2,2,2],[3,3,3]])

np.tile(aa,(3,1))*bb.ravel().T

ValueError: shapes (9,3) and (9,1) not aligned: 3(dim 1) != 9 (dim 0)

points = bb
T = aa

for point in points:
    pointNewPosition = T*point.T
pointsNewPos.append(pointNewPosition.T)

import numpy as np

aa = np.array([[1,2,3],[1,2,3],[1,2,3]])
bb = np.array([[1,1,1],[2,2,2],[3,3,3]])

result = aa.T.dot(bb)