code: def inverse(self):
          
          inv_rot = np.linalg.inv(self.rotation)
          inv_scale = 1.0 / self.scale
          inv_trans = -inv_scale * inv_rot.dot(self.translation)
          return SimilarityTransform(inv_rot, inv_trans, inv_scale,
                                     from_frame=self._to_frame,
                                     to_frame=self._from_frame)
docs: Take the inverse of the similarity transform.
  
          Returns
          -------
          :obj:`SimilarityTransform`
              The inverse of this SimilarityTransform.