code: def transformation_from_parameters(
      axisangle, translation, invert=False
  ):
      """Convert the network's (axisangle, translation) output into a 4x4 matrix"""
      R = rot_from_axisangle(axisangle)
      t = translation.copy()
  
      if invert:
          R = R.transpose(axes=(0, 2, 1))
          t = t * -1
  
      T = get_translation_matrix(t)
  
      if invert:
          M = mx.nd.batch_dot(R, T)
      else:
          M = mx.nd.batch_dot(T, R)
  
      return M
  
imports: from __future__ import absolute_import, division, print_function
  import numpy
  import mxnet
  from mxnet.gluon import nn
label_desc: Use image node_id 2 for calling a global function with example usage: transformation_from_parameters(axisangle, translation, invert) and returns: M