code: def P2sRt(P):
      """decompositing camera matrix P
      Args:
          P: (3, 4). Affine Camera Matrix.
      Returns:
          s: scale factor.
          R: (3, 3). rotation matrix.
          t: (3,). translation.
      """
      t = P[:, 3]
      R1 = P[0:1, :3]
      R2 = P[1:2, :3]
      s = (np.linalg.norm(R1) + np.linalg.norm(R2)) / 2.0
      r1 = R1 / np.linalg.norm(R1)
      r2 = R2 / np.linalg.norm(R2)
      r3 = np.cross(r1, r2)
  
      R = np.concatenate((r1, r2, r3), 0)
      return s, R, t
  
file_path: insightface/python-package/insightface/thirdparty/face3d/mesh/transform.py
imports: from __future__ import absolute_import
  from __future__ import division
  from __future__ import print_function
  import numpy
  import math
  from math import cos, sin
label_desc: Use image node_id 12 for calling a global function with example usage: P2sRt(P) and returns: s,  R,  t