def convert_cam_coords_to_world_coords(self, cam_coords):
        """Convert camera coordinates to world coordinates."""
        num_coords = cam_coords.shape[0]
        hom_entries = np.ones(num_coords).reshape((num_coords, 1))
        cam_coords_hom = np.hstack((cam_coords, hom_entries))
        world_coords_hom = (
            self.get_4x4_cam_to_world_mat().dot(cam_coords_hom.T).T
        )
        world_coords = np.delete(world_coords_hom, 3, 1)
        return world_coords
Convert camera coordinates to world coordinates.
photogrammetry_importer/types/camera.py