HomogenousMatrixQ[m] returns True if m is a list of lists with {4, 4} dimension with the last row is {0, 0, 0, 1} that formally can represent a homogeneous matrix, and gives False otherwise.
The HomogenousMatrixQ function does not check whether the rotation matrix is orthonormal.
The elements of the first three row can be any expression containing variables.
The HomogenousMatrixQ function does not check whether the rotation matrix is orthonormal.
• The elements of the first three row can be any expression containing variables.
• See also: InputHomogenousMatrixQ