jaxtransform3d.transformations.transform_inverse#

jaxtransform3d.transformations.transform_inverse(T: Array | ndarray | bool_ | number | bool | int | float | complex) → Array[source]#

Invert transformation matrix.

$$\begin{array}{r}{\mathit{T}}^{-1}={\left(\begin{array}{cc}\mathit{R}& \mathit{t}\\ \mathbf{0}& 1\end{array}\right)}^{-1}=\left(\begin{array}{cc}{\mathit{R}}^T& -{\mathit{R}}^T\mathit{t}\\ \mathbf{0}& 1\end{array}\right)\end{array}$$

Parameters:

Tarray-like, shape (…, 4, 4)

Transformation matrix.

Returns:

T_invarray, shape (…, 4, 4)

Inverted transformation matrix.