Confusion about the inverse of rotation-translation matrix in the code

[tjtanaa]

Shouldn't the inverse of rotation-translation matrix be this?

However, in your code, the inverse is computed as Rt.inverse().

[TDeVries]

Hello tjtanaa,

That is indeed one way of computing the inverse of the rotation-translation matrix in an efficient manner. For code simplicity we use the built-in inverse solver which should yield the same result.