$$[[\begin{array}{cccc}X& y& z& 1\end{array}这是给予的=[[\begin{array}{cccc}你& v& w& 1\end{array}这是给予的*t$$

$$\begin{array}{ccccc}[[r_{11}& r_{12}& r_{13}& 0;& \mathrm{...}\\ r_{21}& r_{22}& r_{23}& 0;& \mathrm{...}\\ r_{31}& r_{32}& r_{33}& 0;& \mathrm{...}\\ t_X& t_y& t_z& 1这是给予的;& \end{array}$$

$$[[\begin{array}{ccc}X& y& z\end{array}这是给予的=[[\begin{array}{ccc}你& v& w\end{array}这是给予的*r$$

$$[[\begin{array}{ccc}X& y& z\end{array}这是给予的=[[\begin{array}{ccc}你& v& w\end{array}这是给予的+t$$