code: def orthogonal(points, calib, transform=None):
      """
      project points onto screen space using orthogonal projection
      args:
          points: [B, 3, N] 3d points in world coordinates
          calib: [B, 3, 4] projection matrix
          transform: [B, 2, 3] screen space transformation
      return:
          [B, 3, N] 3d coordinates in screen space
      """
      rot = calib[:, :3, :3]
      trans = calib[:, :3, 3:4]
      pts = torch.baddbmm(trans, rot, points)
      if transform is not None:
          scale = transform[:2, :2]
          shift = transform[:2, 2:3]
          pts[:, :2, :] = torch.baddbmm(shift, scale, pts[:, :2, :])
      return pts
  
label_desc: Use image node_id 2 for calling a global function with example usage: orthogonal(points, calib, transform) and returns: pts