Utility functions that I often use
TL;DR: world_T_cam == world_from_cam
This repo uses the notation "cam_T_world" to denote a transformation from world to camera points (extrinsics). The intention is to make it so that the coordinate frame names would match on either side of the variable when used in multiplication from right to left:
cam_points = cam_T_world @ world_points
world_T_cam denotes camera pose (from cam to world coords). ref_T_src denotes a transformation from a source to a reference view.
Finally this notation allows for representing both rotations and translations such as: world_R_cam and world_t_cam