平移矩阵m，平移向量(tx,ty,tz)

double tx=10.2;
double ty=0.0;
double tz=0.0;
cv::Mat m = cv::Mat::eye(4, 4, CV_64FC1);//单位矩阵
m.at<double>(0,3)=tx;
m.at<double>(1,3)=ty;
m.at<double>(2,3)=tz;

齐次点p(1,0,0,1)，

cv::Mat p(4,1,CV_64FC1);
v.at<double>(0,0)=1.0;
v.at<double>(1,0)=0.0;
v.at<double>(2,0)=0.0;
v.at<double>(3,0)=1.0;

t为平移后的齐次点

cv::Mat t = m * p;
std::cout<< t <<std::endl;