def set_4x4_world_to_cam_mat(self, world_to_cam_mat, check_rotation=True):
        """Set the extrinsic parameters using a world to camera matrix."""

        # This matrix can be used to convert points given in world coordinates
        # into points given in camera coordinates
        # M = [R      -Rc]
        #     [0      1  ]

        self.set_rotation_with_rotation_mat(
            world_to_cam_mat[0:3, 0:3],
            check_rotation=check_rotation,
        )
        self.set_camera_translation_vector_after_rotation(
            world_to_cam_mat[0:3, 3], check_rotation=check_rotation
        )
Set the extrinsic parameters using a world to camera matrix.
photogrammetry_importer/types/camera.py