Hi Daniel,
I understand that you wish to clarify whether “estworldpose” returns object from World to Camera or Camera to World perspective.
When using functions such as “estworldpose” or other Perspective-n-Point (PnP) algorithms, the goal is to estimate the camera's pose based on correspondences between 3-D world points and 2-D image points. Thus, the resulting transformation typically represents the camera's position and orientation within the world coordinate frame. Therefore, the transformation matrix “TF” you obtain will map points from the world frame to the camera frame.
To transform a point from the world coordinate system to the camera coordinate system, you would use the “TF” matrix to multiply the point's homogeneous coordinates.
If you need to perform the opposite—transform points from the camera frame to the world frame—you would use the inverse of the “TF” matrix.
Hope this helps. Please feel free to reach out for further clarifications.
