https://github.com/mikedh/trimesh/blob/e6458a6f5b4814c620cec6858003681acc96b4c3/trimesh/scene/cameras.py#L306 Are you sure this is world to camera? It seems to me this is actually camera to world? We apply the inverse to get points in camera coords: https://github.com/mikedh/trimesh/blob/e6458a6f5b4814c620cec6858003681acc96b4c3/trimesh/scene/cameras.py#L317
trimesh/trimesh/scene/cameras.py
Line 306 in e6458a6
Are you sure this is world to camera? It seems to me this is actually camera to world?
We apply the inverse to get points in camera coords:
trimesh/trimesh/scene/cameras.py
Line 317 in e6458a6