Comment by petewarden

Yes, that was my screwup, sorry for any confusion! Despite multiple linear algebra courses, working in 3D graphics for a decade, I haven't internalized the basics of matrix notation. It doesn't help that my usual sandbox (Eigen) is column major by default, which is the wrong in-memory order for my raster-image trained brain to visualize. Funnily enough, I find tensor notation a bit easier, despite being less familiar.