# The meaning of 3D affine transform matrix

The estimateAffine3D() function returns a 3D affine transform matrix which convert the source points to their corresponding destination points. The size of this matrix is 3x4.

I searched around but I still confuse about the meaning of the elements in the matrix. Is there any explanation about that? How can I extract the degree of rotation by x, y and z axis and translation parameters?

Could you post the matrix? I guess that the first three colums are a rotation matrix and the last column is the translation vector so that you have an equation as x' = [R,t]*[x,y,z,1]' (the source point is represented as a column vector in homogeneous coordinates). Does that make sense?