why is it here c2w? The format should be w2c from colmap files.

[lin]

def qt2c2w(q, t):
# NOTE: remember to convert to opengl coordinate system
# rot = Rotation.from_quat(q).as_matrix()
rot = qvec2rotmat(q)
c2w = np.eye(4)
c2w[:3, :3] = np.transpose(rot)
c2w[:3, 3] = -np.transpose(rot) @ t
c2w[..., 1:3] *= -1
return c2w