Affine3D 4x4 matrix to homogeneous matrix.

Hello,

I am using imregtform to get the transformation matrix and register images, Affine and Rigid to compare them. After that I want to extract translation, rotation, scale etc from the transformation matrix. I know how to do that from a homogenous matrix but the method returns an affine3d 4x4 matrix that is not homogenous.

Could you please tell me how to convert it? This is how it looks:

tform=0.999912716225678  -0.00347384382740352  -0.0127472483010894  0
0.00362177295218213  0.999926157343265  0.0116001129914652  0
0.0127060100294962  -0.0116452681289324  0.999851461487823  0
-0.734363250256798  0.656910969129523  0.275948901741684  1]

Answer 1

[Prasad Mendu]

You can refer to functions under "Coordinate System Transformations" section at the link below to see if one of those serves your use-case.

https://www.mathworks.com/help/robotics/functionlist.html