Inverting the Camera Transform

The solution is on p. 25 of Robot Manipulators: Mathematics, Programming,

and Control by Richard Paul (old reliable)

What we need to do is represent the camera frame in in eye space, the

space within which OpenGL rendering is done.

Given C - the camera transformation in world space we need C' it's inverse.
We needn't do a full blown matrix inverse because of the special case of this
frame. it has an orthonormal upper 3x3 and a translation vector. C' can be
calculated thusly:

C =
nx ox ax px
ny oy ay py
nz oz az pz

C' =
nx ny nz -p.n
ox oy oz -p.o
ax ay az -p.a

Plug C' into the transformation OpenGL transformation pipeline