Thanks for the nice explanation. I have a question regarding the extrinic codes you have shared.

```

# create extrinsic matrix

# --------------------------

# create rotation transformation matrix

R = create_rotation_transformation_matrix(angles, order)

R_ = np.identity(4)

R_[:3, :3] = R

# create translation transformation matrix

T_ = create_translation_matrix(offset)

E = np.linalg.inv(T_ @ R_)

E = E[:-1, :]

```

My question is why E is regarded as the extrinic matrix but not `T_@R_`. Thanks.