Always forget this so figured I'd document it here: https://math.stackexchange.com/questions/237369/given-this-transformation-matrix-how-do-i-decompose-it-into-translation-rotati is a really good reference for decomposing a combined 3D-H affine transformation matrix into separate translation, rotation, and scale components.
vnambiar
If people are interested in learning about the math group that these transformation matrices belong too. Check out https://en.wikipedia.org/wiki/Lie_group.
Always forget this so figured I'd document it here: https://math.stackexchange.com/questions/237369/given-this-transformation-matrix-how-do-i-decompose-it-into-translation-rotati is a really good reference for decomposing a combined 3D-H affine transformation matrix into separate translation, rotation, and scale components.
If people are interested in learning about the math group that these transformation matrices belong too. Check out https://en.wikipedia.org/wiki/Lie_group.