code: def hungarian_matcher(cost):
      """Computes Hungarian Matching given a single cost matrix.
  
      Relevant DETR code:
      https://github.com/facebookresearch/detr/blob/647917626d5017e63c1217b99537deb2dcb370d6/models/matcher.py#L35
  
      Args:
        cost: Matching cost matrix of shape [N, M].
  
      Returns:
        Array of shape [min(N, M), 2] where each row contains a matched pair of
        indices into the rows (N) and columns (M) of the cost matrix.
      """
      # Matrix is transposed to maintain the convention of other matchers:
      col_ind, row_ind = sciopt.linear_sum_assignment(cost.T)
      return np.stack([row_ind, col_ind]).astype(np.int32)
  
label_desc: Use image node_id 1 for calling a global function with example usage: hungarian_matcher(cost) and returns: np