The meaning of each parameter of the six-dimensional transformation matrix

[Lucksong]

I have a question about the tform in kitti single model. It is a six-dimensional matrix composed of Euler angles and translation vectors,but what is the specific meaning of each dimension, which three-dimensional is the Euler angle which three-dimensional is the translation vector? What order is the Euler angle (zyx)? In the experiment, I made the front three-dimensional Euler angle, and the back three-dimensional is the translation vector. The result is as follows, which is not ideal.

[sagacious-cao]

+1

[Lucksong]

Euler angles in the back translation vector will get the following results