Calculate rotation/translation of picture with GeometricT​ransformEs​timator

Hi,

I have two pictures. One of them is rotated/translated in all dimensions and now I want to find this rotation/translation. I used the detect/extract/match feature function and the GeometricTransformEstimator.

Now I have a perspective transformation matrix and I am not really sure what is in there. This is a 3x3 matrix. Is it possible to calculate the rotation (pitch, roll, yaw) and translation (x,y,z) from that matrix?

I tried to find out how such a matrix is composed so I could reverse this but I couldn't find what I was looking for.

Thanks & Regards