.. _homogen3d:

Homogeneous Matrices in 3-D
=============================

Homogeneous coordinate transformation matrices in three dimensions are
similar to the two dimensional matrix with extra row and column.
It is a 4-by-4 containing a 3-by-3 rotation matrix and a 3-by-1 translation
column vector.

.. math:: T = \spalignmat{{}, {}, {},x_t; 
                          {}, R_{3\times3}, {},  y_t;
                          {}, {}, {}, z_t; 
                          0, 0, 0, 1}