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Convert homogeneous transform to rotation and translation
[R,t] = tr2rt(TR) split a homogeneous transformation matrix (NxN) into an orthonormal rotation matrix R (MxM) and a translation vector t (Mx1), where N=M+1.
A homogeneous transform sequence TR (NxNxK) is split into rotation matrix sequence R (MxMxK) and a translation sequence t (KxM).
© 1990-2012 Peter Corke.