code: def from_camera_to_world(cls, camera_to_world, unstable=False):
      assert isinstance(camera_to_world, np.ndarray)
      assert camera_to_world.shape == (4, 4)
      world_to_camera = np.linalg.inv(camera_to_world)
      world_to_camera /= world_to_camera[3, 3]
      return cls.from_world_to_camera(world_to_camera, unstable)
  
imports: import numpy
  from geometry import transformations
  from geometry.basics import Translation, Rotation, UnstableRotation
label_desc: Use image node_id 4 for calling the CameraPose obj's underlying member method code with example usage: obj.from_camera_to_world(cls, camera_to_world, unstable) and returns: cls