def inverse_transform_point_cloud(point_cloud, ego_vehicle_matrix):
    # <Copyright 2019, Argo AI, LLC. Released under the MIT license.>
    """Undo the translation and then the rotation (Inverse SE(3) transformation)."""
    translation = ego_vehicle_matrix[:3, 3]
    rotation = ego_vehicle_matrix[:3, :3]
    point_cloud = point_cloud.copy()
    point_cloud -= translation
    return point_cloud.dot(rotation)