def rotate_vector(self, vec_rot, vec_about, theta):
        d = np.sqrt(vec_about.dot(vec_about))
        
        L = np.array((0,vec_about[2], -vec_about[1], 
                    -vec_about[2], 0, vec_about[0],
                    vec_about[1], -vec_about[0], 0))
        L.shape = (3,3)

        
        try:
           R = (np.identity(3) + np.sin(theta)/d*L +
                    (np.cos(theta)-1)/(d*d)*(L.dot(L)))
        except:
            print("Error in rotation.")
            return()
        return(vec_rot.dot(R))
dataset/ETHPy150Open grantbrown/laspy/laspy/glviewer.py/pcl_image.rotate_vector/swapped operands of `-`