ktk.geometry.invert

invert(matrix_series, /)

Calculate series of inverse transform.

This function calculates a series of inverse homogeneous transforms.

Parameters:

matrix_series (ArrayLike) – Nx4x4 series of homogeneous matrices, where each matrix is an homogeneous transform.

Returns:

The Nx4x4 series of inverse homogeneous matrices.

Return type:

ArrayLike

Note

This function requires (and checks) that the input is a transform series. It then calculates the inverse matrix quickly using the transpose of the rotation component.