def transform_inverse(tf):
    new_tf = np.eye(4)
    new_tf[:3, :3] = tf[:3, :3].T
    new_tf[:3, 3] = (- new_tf[:3, :3].dot(tf[:3, 3]))
    return new_tf
def transform_inverse(tf):
    new_tf = np.eye(4)
    new_tf[:3, :3] = tf[:3, :3].T
    new_tf[:3, 3] = (- new_tf[:3, :3].dot(tf[:3, 3]))
    return new_tf