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2015-02-23 00:47:22 -0500 asked a question 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?