scene_synthesizer.utils.homogeneous_inv

scene_synthesizer.utils.homogeneous_inv(matrix)

Inverse homogeneous matrix. Slightly faster than np.linalg.inv or trimesh.transformations.inverse_matrix.

Parameters:

matrix (np.ndarray) – 4x4 homogeneous matrix.

Returns:

Inverse matrix of the input matrix.

Return type:

np.ndarray