code: def _move_in_front_of_camera(
      points3d, rotation_matrix, translation_vector
  ):
      """Moves a set of points in front of a camera given by its extrinsics.
  
      Args:
        points3d: A tensor of shape `[A1, ..., An, M, 3]`,
          where M is the number of points.
        rotation_matrix: A tensor of shape `[A1, ..., An, 3, 3]`.
        translation_vector: A tensor of shape `[A1, ..., An, 3, 1]`.
      Returns:
        A tensor of shape `[A1, ..., An, M, 3]`.
      """
      points3d = tf.convert_to_tensor(value=points3d)
      rotation_matrix = tf.convert_to_tensor(value=rotation_matrix)
      translation_vector = tf.convert_to_tensor(
          value=translation_vector
      )
  
      shape.check_static(
          tensor=points3d,
          tensor_name="points3d",
          has_dim_equals=(-1, 3),
      )
      shape.check_static(
          tensor=rotation_matrix,
          tensor_name="rotation_matrix",
          has_dim_equals=(-1, 3),
      )
      shape.check_static(
          tensor=rotation_matrix,
          tensor_name="rotation_matrix",
          has_dim_equals=(-2, 3),
      )
      shape.check_static(
          tensor=translation_vector,
          tensor_name="translation_vector",
          has_dim_equals=(-1, 1),
      )
      shape.check_static(
          tensor=translation_vector,
          tensor_name="translation_vector",
          has_dim_equals=(-2, 3),
      )
      shape.compare_batch_dimensions(
          tensors=(points3d, rotation_matrix, translation_vector),
          tensor_names=(
              "points3d",
              "rotation_matrix",
              "translation_vector",
          ),
          last_axes=-3,
          broadcast_compatible=True,
      )
  
      points3d_corrected = (
          tf.linalg.matrix_transpose(points3d) + translation_vector
      )
      rotation_matrix_t = -tf.linalg.matrix_transpose(rotation_matrix)
      points3d_world = tf.matmul(rotation_matrix_t, points3d_corrected)
      return tf.linalg.matrix_transpose(points3d_world)
  
file_path: graphics/tensorflow_graphics/projects/radiance_fields/utils.py
imports: import math
  import tensorflow
  from tensorflow_graphics.geometry.transformation import rotation_matrix_3d
  from tensorflow_graphics.util import shape
label_desc: Use image node_id 4 for calling a global function with example usage: _move_in_front_of_camera(points3d, rotation_matrix, translation_vector) and returns: tf