code: def objectron_to_pytorch3d(
      R: torch.Tensor, T: torch.Tensor
  ) -> Tuple[torch.Tensor, torch.Tensor]:
      """
      Transforms the R and T matrices from the Objectron world coordinate
      system to the PyTorch3d world system.
      Objectron cameras live in +X right, +Y Up, +Z from screen to us.
      Pytorch3d world is +X left, +Y up, +Z from us to screen.
      """
      rotation = Rotate(R=R)
      conversion = RotateAxisAngle(axis="y", angle=180)
      composed_transform = rotation.compose(conversion).get_matrix()
      composed_R = composed_transform[0, 0:3, 0:3]
  
      translation = Translate(x=T[None, ...])
      t_matrix = translation.compose(conversion).get_matrix()
      flipped_T = t_matrix[0, 3, :3]
      return composed_R, flipped_T
  
file_path: pytorchvideo/projects/video_nerf/dataset_utils.py
imports: import os
  import struct
  import sys
  from typing import List, Tuple
  import numpy
  import torch
  from objectron.schema import a_r_capture_metadata_pb2
  from PIL import Image
  from pytorch3d.transforms import Rotate, RotateAxisAngle, Translate
label_desc: Use image node_id 1 for calling a global function with example usage: objectron_to_pytorch3d(R, T) and returns: composed_R,  flipped_T