About rigid transformation matrix?

[K-M-Ibrahim-Khalilullah]

Thanks for your good repo.
Would provide the notation of your 4x4 rigid transformation matrix? It will easier to understand, what they are? or any other link?

[HaFred]

It seems like rigid_transformation() does the following:

• Convert a 3D view frustum in the camera coordinate from Cartesian coordinates into Homogenous coordinates
• Perform transformation
• Convert the homogenous coordinates back into Cartesian coordinates

Henceforth, get_view_frustum() extract the view frustum for each frame by utilizing its depth and intrinsic and pose.