Question regarding function prealign_cameras

[cmh1027]

def prealign_cameras(pose, pose_GT):
    pose, pose_GT = pose.float(), pose_GT.float()
    center = torch.zeros(1, 1, 3)
    center_pred = camera.cam2world(center, pose)[:, 0]  # [N,3]
    center_GT = camera.cam2world(center, pose_GT)[:, 0]  # [N,3]
    sim3 = camera.procrustes_analysis(center_GT, center_pred)
    center_aligned = (center_pred - sim3.t1) / sim3.s1 @ sim3.R.t() * sim3.s0 + sim3.t0
    R_aligned = pose[..., :3] @ sim3.R.t()
    t_aligned = (-R_aligned @ center_aligned[..., None])[..., 0]
    aligned_pose = camera.pose(R=R_aligned, t=t_aligned)
    return aligned_pose, sim3

It seems that the parameters pose and pose_GT are c2w.
However, when I see camera.cam2world method, it seems that its input is w2c because Pose().invert(pose) should be c2w.

def cam2world(X,pose):
    X_hom = to_hom(X)
    pose_inv = Pose().invert(pose)
    return X_hom@pose_inv.transpose(-1,-2)

Could you clarify which one is wrong?