齐次变换矩阵
[[-0.71324273, -0.57572433, 0.39978282, 0.71652225],
[-0.50221880, 0.81764387, 0.28148674, 0.71844197],
[-0.48893874, -0.00001076, -0.87231812, -0.33880458],
[ 0.00000000, 0.00000000, 0.00000000, 1.00000000]]
[[-0.70259250, -0.71152347, -0.00990679, 0.35477370],
[-0.71145405, 0.70266233, -0.00993865, 0.55350242],
[ 0.01403271, 0.00006540, -0.99990153, -0.43165287],
[ 0.00000000, 0.00000000, 0.00000000, 1.00000000]]
[[-0.45831969, -0.71142267, -0.53274839, 0.20924484],
[-0.46393614, 0.70276438, -0.53933800, 0.40596676],
[ 0.75809388, -0.00002799, -0.65214544, -0.22440124],
[ 0.00000000, 0.00000000, 0.00000000, 1.00000000]]
原文地址：https://blog.csdn.net/m0_51060098/article/details/143753164
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