I have a 3 x 4 matrix of -R|t information. Seems fine. However I came across an exercise where a bottom layer of '0 0 0 1' was added accross the bottom of said matrix, and creating a cascading change effect on every matrix dependent on the first.
Which is the correct configuration 4 x 4 [0 1 0 tx 1 2 1 ty 1 1 2 tz 0 0 0 1]
or
3 x 4
[0 1 0 tx 1 2 1 ty 1 1 2 tz]