code: def camera_to_world(self):
      M = np.linalg.inv(self.world_to_camera)
      M /= M[3, 3]
      return M
  
imports: import numpy
  from geometry import transformations
  from geometry.basics import Translation, Rotation, UnstableRotation
label_desc: Use image node_id 12 for calling the CameraPose obj's underlying member method code with example usage: obj.camera_to_world() and returns: M