$$\left[\begin{array}{cccc}X& y& \mathrm{Z.}& 1\end{array}\right]=\left[\begin{array}{cccc}你& \mathrm{V.}& \mathrm{W.}& 1\end{array}\right]*\mathrm{T.}$$

$$\begin{array}{ccccc}[{\mathrm{R.}}_{11.}& {\mathrm{R.}}_{12.}& {\mathrm{R.}}_{13.}& 0.;& \mathrm{......}\\ {\mathrm{R.}}_{21.}& {\mathrm{R.}}_{22.}& {\mathrm{R.}}_{23.}& 0.;& \mathrm{......}\\ {\mathrm{R.}}_{31.}& {\mathrm{R.}}_{32.}& {\mathrm{R.}}_{33.}& 0.;& \mathrm{......}\\ {\mathrm{T.}}_X& {\mathrm{T.}}_y& {\mathrm{T.}}_{\mathrm{Z.}}& 1];& \end{array}$$

$$\left[\begin{array}{ccc}X& y& \mathrm{Z.}\end{array}\right]=\left[\begin{array}{ccc}你& \mathrm{V.}& \mathrm{W.}\end{array}\right]*\mathrm{R.}$$

$$\left[\begin{array}{ccc}X& y& \mathrm{Z.}\end{array}\right]=\left[\begin{array}{ccc}你& \mathrm{V.}& \mathrm{W.}\end{array}\right]+\mathrm{T.}$$