code: def create_sphere(kp, color, radius):
      T = np.eye(4)
      T[:3, 3] = kp
      sphere = open3d.geometry.TriangleMesh.create_sphere(radius=radius)
      sphere.transform(T)
      sphere.paint_uniform_color(color)
      return sphere
  
imports: import open3d
  import torch
  import numpy
  import hydra
  import logging
  from omegaconf import OmegaConf
  import os
  import sys
  import pandas
  import time
  from torch_points3d.models.model_factory import instantiate_model
  from torch_points3d.datasets.dataset_factory import instantiate_dataset, get_dataset_class
  from torch_points3d.models.base_model import BaseModel
  from torch_points3d.datasets.base_dataset import BaseDataset
  from torch_points3d.utils.registration import estimate_transfo, teaser_pp_registration, fast_global_registration, get_matches
  from torch_points3d.metrics.registration_metrics import compute_hit_ratio, compute_transfo_error, compute_scaled_registration_error
  from torch_points3d.metrics.colored_tqdm import Coloredtqdm
  from torch_points3d.metrics.model_checkpoint import ModelCheckpoint
label_desc: Use image node_id 2 for calling a global function with example usage: create_sphere(kp, color, radius) and returns: sphere