code: def transform(self):
          
          # no scene set
          if self._scene is None:
              # no transform saved locally
              if not hasattr(self, '_transform') or self._transform is None:
                  return np.eye(4)
              # transform saved locally
              return self._transform
  
          # get the transform from the scene
          return self._scene.graph[self.name][0]
docs: Get the (4, 4) homogenous transformation from the
          world frame to this camera object.
  
          Returns
          ------------
          transform : (4, 4) float
            Transform from world to camera