Function pose_inv

python/map_closures/tools/utils.py:30–34

(T)

def pose_inv(T):
    T_inv = np.eye(4)
    T_inv[:3, :3] = T[:3, :3].T
    T_inv[:3, -1] = -T[:3, :3].T @ T[:3, -1]
    return T_inv


@dataclass